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Commit d75f3c80 authored by Austin Rohlfing's avatar Austin Rohlfing
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Merge branch '45-updated-control-model-files-from-andy' into 'master' 

Added necesarry files from andy for the simulink model to work

See merge request !27
parents 8a562a2c a1c0e10a
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controls/model/Quadcopter_Model_R2016_B.slx
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controls/model/modelParameters.m
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% Add Library Blocks to Path
path = genpath('Library_blocks');
addpath(path);
% Add Library Blocks and 3D animation to Path
path_1 = genpath('Library_blocks');
path_2 = genpath('3D_Animation');
addpath(path_1, path_2);
% Log Analysis Toggle
logAnalysisToggle = 1; % 1 for log analysis, 0 for normal operation
logAnalysisToggle = 0; % 1 for log analysis, 0 for normal operation
% Physics Verification Toggle
physicsVerificationToggle = 1;
% Define Simulink Runtime (if logAnalysisToggle is selected, this will be
% automatically set based on the log files time)
runtime = 55;
runtime = 40;%max(time);
% Model Parameters
m = 1.216; % Quadrotor + battery mass
g = 9.81; % Acceleration of gravity
Jxx = 0.0130; % Quadrotor and battery motor of inertia around bx (pitch)
Jyy = 0.0140; % Quadrotor and battery motor of inertia around by (roll)
Jzz = 0.0285; % Quadrotor and battery motor of inertia around bz (yaw)
Jreq = 4.2012e-05; % Rotor and motor moment of inertia around axis of rotation
Kt = 1.2007e-05; % Rotor thrust constant
Kh = 3.4574e-04; % Rotor in-plane drag constant
Kd = 1.4852e-07; % Rotor drag constant
rhx = 0.16; % X-axis distance from center of mass to a rotor hub
rhy = 0.16; % Y-axis distance from center of mass to a rotor hub
rhz = 0.03; % Z-axis distance from center of mass to a rotor hub
r_oc = [0; 0; 0]; % Vector from origin to center of mass
Rm = 0.235; % Motor resistance
Kq = 96.3422; % Motor torque constant
Kv = 96.3422; % Motor back emf constant
If = 0.3836; % Motor internal friction current
Pmin = 0; % Minimum zybo output duty cycle command
Pmax = 1; % Maximum zybo output duty cycle command
Tc = 0.04; % Camera system sampling period
Tq = 0.005; % Quad sampling period
tau_c = 0; % Camera system total latency
Vb = 12.3; % Nominal battery voltage (V)
x_controlled_o = 0; % Equilibrium lateral controller output
y_controlled_o = 0; % Equilibrium longitudinal controller output
yaw_controlled_o = 0; % Equilibrium yaw controller output
Kp_mahony = 0.4; % Proportional term for mahony filter
Ki_mahony = 0.001; % Integral term for mahony filter
delta_T = 4 * [ 0, 0, 2.351e-4 ];
m = 1.216; % Quadrotor + battery mass
g = 9.81; % Acceleration of gravity
Jxx = 0.0110;%0.0130; % Quadrotor and battery motor of inertia around bx (pitch)
Jyy = 0.0116;%0.0140; % Quadrotor and battery motor of inertia around by (roll)
Jzz = 0.0223;%0.0285; % Quadrotor and battery motor of inertia around bz (yaw)
Jreq = 4.2012e-05; % Rotor and motor moment of inertia around axis of rotation
Kt = 1.2007e-05; % Rotor thrust constant
delta_T = [ 0, 0, 9.404e-04 ]; % Thrust constant adjustment factor
Kh = 3.4574e-04; % Rotor in-plane drag constant
Kd = 1.4852e-07; % Rotor drag constant
rhx = 0.16; % X-axis distance from center of mass to a rotor hub
rhy = 0.16; % Y-axis distance from center of mass to a rotor hub
rhz = 0.03; % Z-axis distance from center of mass to a rotor hub
r_oc = [0; 0; 0]; % Vector from origin to center of mass
Rm = 0.235; % Motor resistance
Kq = 96.3422; % Motor torque constant
Kv = 96.3422; % Motor back emf constant
If = 0.3836; % Motor internal friction current
Pmin = 0; % Minimum zybo output duty cycle command
Pmax = 1; % Maximum zybo output duty cycle command
Tc = 0.01;%0.04; % Camera system sampling period
Tq = 0.005; % Quad sampling period
tau_c = 0; % Camera system total latency
Vb = 12.3; % Nominal battery voltage (V)
x_controlled_o = 0; % Equilibrium lateral controller output
y_controlled_o = 0; % Equilibrium longitudinal controller output
yaw_controlled_o = 0; % Equilibrium yaw controller output
Kp_mahony = 0.4; % Proportional term for mahony filter
Ki_mahony = 0.001; % Integral term for mahony filter
% Define Biquad Filter Parameters
b0 = 0.020083;
b1 = 0.040167;
b2 = 0.020083;
a0 = 1;
a1 = -1.561;
a2 = 0.6414;
SOS_Matrix = [b0, b1, b2, a0, a1, a2];
accel_Fc = 10;
Fs = 1/Tq;
accel_K = tan(pi * accel_Fc / Fs);
Q = 0.707;
accel_norm = 1.0 / (1.0 + accel_K/Q + accel_K*accel_K);
% Determine Initial Conditions
accel_b0 = accel_K*accel_K*accel_norm;
accel_b1 = 2.0*accel_b0;
accel_b2 = accel_b0;
accel_a0 = 1;
accel_a1 = 2.0*(accel_K*accel_K -1) * accel_norm;
accel_a2 = (1.0 - accel_K/Q + accel_K*accel_K) * accel_norm;
% Equilibrium rotor speeds
omega0_o = sqrt((m*g)/(4*Kt));
omega1_o = sqrt((m*g)/(4*Kt));
omega2_o = sqrt((m*g)/(4*Kt));
omega3_o = sqrt((m*g)/(4*Kt));
accel_SOS_Matrix = [accel_b0, accel_b1, accel_b2, accel_a0, accel_a1, accel_a2];
% Equilibrium height controller output
height_controlled_o = (((Rm*If ...
+ (((omega0_o * 2 * Rm * Kv * Kq ...
* Kd + 1)^2) - 1)/(4* Rm*Kv^2*Kq ...
* Kd))/Vb)*(Pmax - Pmin) + Pmin);
OF_Fc = 7;
OF_K = tan(pi * OF_Fc / Fs);
OF_norm = 1.0 / (1.0 + OF_K/Q + OF_K*OF_K);
OF_b0 = OF_K*OF_K*OF_norm;
OF_b1 = 2.0*OF_b0;
OF_b2 = OF_b0;
OF_a0 = 1;
OF_a1 = 2.0*(OF_K*OF_K -1) * OF_norm;
OF_a2 = (1.0 - OF_K/Q + OF_K * OF_K) * OF_norm;
OF_SOS_Matrix = [OF_b0, OF_b1, OF_b2, OF_a0, OF_a1, OF_a2];
% Determine Initial Conditions
% Equilibrium positions
% Position Initial Conditions
x_o = 0;
y_o = 0;
z_o = 0;
% Equilibrium velocities
% Velocity Initial Conditions
x_vel_o = 0;
y_vel_o = 0;
z_vel_o = 0;
% Equilibrium angles
% Euler Angle Initial Conditions
roll_o = 0;
pitch_o = 0;
yaw_o = 0;
% Equilibrium angular rates
% Euler Rate Initial Conditions
rollrate_o = 0;
pitchrate_o = 0;
yawrate_o = 0;
% Equilibrium rotor speeds
omega0_o = sqrt((m*g)/(4*Kt));
omega1_o = sqrt((m*g)/(4*Kt));
omega2_o = sqrt((m*g)/(4*Kt));
omega3_o = sqrt((m*g)/(4*Kt));
% Equilibrium height controller output
height_controlled_o = (((Rm*If ...
+ (((omega0_o * 2 * Rm * Kv * Kq ...
* Kd + 1)^2) - 1)/(4* Rm*Kv^2*Kq ...
* Kd))/Vb)*(Pmax - Pmin) + Pmin);
if logAnalysisToggle == 1
%%%%%% Commented out section until logging is .txt file based %%%%%%
% FNAME
......@@ -96,10 +118,10 @@ if logAnalysisToggle == 1
%
%fname = 'sampleLogFile.txt';
fname = '';
fpath = '';
fpath = 'C:\Users\Andy\Documents\School\MicroCART\GitRepo\MicroCART_17-18\controls\model\logFiles\';
if(isempty(fname))
[fname, fpath] = uigetfile('.txt','Select log file');
[fname] = uigetfile('.txt','Select log file', fpath);
end
params.file.name = fname; % file name only
......@@ -210,10 +232,7 @@ if logAnalysisToggle == 1
raw_gyro_data_arr = ...
[ raw_gyro_data_x , raw_gyro_data_y , raw_gyro_data_z ];
raw_gyro_data = timeseries( raw_gyro_data_arr , time );
% Create time series object for z command
throttle_command = timeseries(dataStruct.RC_Throttle_Constant.data, time);
% Pull the measurements from the complimentary filter
pitch_measured_IMU = dataStruct.Pitch_trim_add_Sum.data;
roll_measured_IMU = dataStruct.Roll_Constant.data;
......@@ -222,9 +241,9 @@ if logAnalysisToggle == 1
IMU_angle_data = timeseries( IMU_angle_arr, time);
% Pull VRPN pitch and roll
pitch_measured_VRPN = dataStruct.VRPN_Pitch_Constant.data;
roll_measured_VRPN = dataStruct.VRPN_Roll_Constant.data;
pitch_measured_VRPN = dataStruct.Pitch_trim_add_Sum.data;
% Define setpoint timeseries
x_setpoint_model = timeseries(x_setpoint, time);
y_setpoint_model = timeseries(y_setpoint, time);
......
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