Updated scripts for calculating thrust and drag constant

controls/MATLAB/thrustAndDragConstant/calcDragConstant.m

@@ -30,22 +30,22 @@ rotor_speed_3 = data.(5) * (pi/30);
 % done by stacking the data of each motor in a single array and performing
 % a least squares approximation of all of the data.
 %
-%       u: Defined in section 4.2.5
-%       omega: vector of each rotors speed in rad/s
-%       A: column vector of each rotors speed squared
-%       b: Defined in section 5.5.4.1
-%       Kd_vector: Vector containing all experimental Kd values
-%       Vb: Battery voltage
-u1 = ((data.(1)/100) - Pmin)/(Pmax - Pmin);
-u2 = ((data.(1)/100) - Pmin)/(Pmax - Pmin);
-u3 = ((data.(1)/100) - Pmin)/(Pmax - Pmin);
-u4 = ((data.(1)/100) - Pmin)/(Pmax - Pmin);
+% u: Defined in section 4.2.5
+% omega: vector of each rotors speed in rad/s
+% A: column vector of each rotors speed squared
+% b: Defined in section 5.5.4.1
+% Kd_vector: Vector containing all experimental Kd values
+% Vb: Battery voltage
+u1 = ((data.(1)) - Pmin)/(Pmax - Pmin);
+u2 = ((data.(1)) - Pmin)/(Pmax - Pmin);
+u3 = ((data.(1)) - Pmin)/(Pmax - Pmin);
+u4 = ((data.(1)) - Pmin)/(Pmax - Pmin);
 u = [u1; u2; u3; u4];
 Vb = [data.(6); data.(6); data.(6); data.(6)];
 omega = [rotor_speed_0; rotor_speed_1; rotor_speed_2; rotor_speed_3];
 A = omega.^2;
 b = ((u.*Vb)/(Rm*Kq))-omega./(Rm*Kq*Kv)-If/Kq;
 
-Kd = ((A'*A)^-1)*A'*b
+Kd = ((A'*A)^-1)*A'*b;
 end
 

controls/MATLAB/thrustAndDragConstant/calcThrustConstant.m

@@ -21,11 +21,11 @@ A = (rotor_speed_0.^2 + rotor_speed_1.^2 + rotor_speed_2.^2 + rotor_speed_3.^2);
 % multiplying by the acceleration of gravity.
 T = (data.Scale_g_/1000)*9.8;
 
-% Calculate the thrust constant (Kt) through the following
-% equation: Kt = (A'A)^-1.*A'.*T as defined on page 65 of "Model
+% Calculate the thrust constant (Kt) through least squares approximation
+% Kt = (A'A)^-1.*A'.*T as defined on page 65 of "Model
 % development, system identification, and control of a quadrotor
 % helicopter" (Matt Rich's Thesis).
-Kt = ((A'*A)^(-1))*(A'*T) 
+Kt = ((A'*A)^(-1))*(A'*T); 
 
 end
 

controls/MATLAB/thrustAndDragConstant/thrustDragConstantCalculations.m

@@ -2,9 +2,9 @@
 addpath('C:\Users\Andy\Documents\School\MicroCART\GitRepo\MicroCART_17-18\controls\MATLAB\zeroLoadCurrent')
 
 % Import data as a table.
-data = readtable('C:\Users\Andy\Documents\MATLAB\MicroCART\Thrust and Drag Constant\Thrust and Drag Constant Data.xlsx');
+data = readtable('C:\Users\Andy\Documents\School\MicroCART\GitRepo\MicroCART_17-18\controls\dataCollection\Thrust and Drag Constant Data v2.xlsx');
 
-filePath_noLoadCurrentData = 'C:\Users\Andy\Documents\MATLAB\MicroCART\Zero Load Current\No Load Friction Current.csv';
+filePath_noLoadCurrentData = 'C:\Users\Andy\Documents\School\MicroCART\GitRepo\MicroCART_17-18\controls\dataCollection\No Load Friction Current.xlsx';
 
 [I_0, I_1, I_2] = zeroLoadCurrent(filePath_noLoadCurrentData);
 
@@ -14,8 +14,8 @@ rotor_speed_2 = data.(4) * (pi/30);
 rotor_speed_3 = data.(5) * (pi/30);
 
 % Define Pmin and Pmax, as well as the motor parameters Rm, Kv, Kq, and If
-Pmin = 0.40;
-Pmax = 0.8;
+Pmin = 1e5;
+Pmax = 2e5;
 Rm = 0.2308;
 Kv = 96.3422;
 Kq = 96.3422;
@@ -26,8 +26,8 @@ If3 = I_0 * sign(rotor_speed_3) + I_1 * rotor_speed_3 + I_2 * rotor_speed_3.^2;
 If = [If0; If1; If2; If3];
 
 % Call the calc_thrust_constant() function.
-Kt = calcThrustConstant(data);
+Kt = calcThrustConstant(data)
 
 % Call the calc_drift_constant() function.
-Kd = calcDragConstant(data, Pmin, Pmax, Rm, Kv, Kq, If );
+Kd = calcDragConstant(data, Pmin, Pmax, Rm, Kv, Kq, If)