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Thomas Dehaeze
2020-04-01 16:17:26 +02:00
parent 4613c74ef3
commit 544bb82b10
15 changed files with 2360 additions and 1025 deletions
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docs/control_cascade.html
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@@ -4,7 +4,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-03-25 mer. 19:23 -->
<!-- 2020-04-01 mer. 16:16 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Cascade Control applied on the Simscape Model</title>
@@ -202,50 +202,28 @@
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
<script type="text/javascript" src="./js/readtheorg.js"></script>
<script type="text/javascript">
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Copyright (C) 2012-2020 Free Software Foundation, Inc.
The JavaScript code in this tag is free software: you can
redistribute it and/or modify it under the terms of the GNU
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Foundation, either version 3 of the License, or (at your option)
any later version. The code is distributed WITHOUT ANY WARRANTY;
without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
As additional permission under GNU GPL version 3 section 7, you
may distribute non-source (e.g., minimized or compacted) forms of
that code without the copy of the GNU GPL normally required by
section 4, provided you include this license notice and a URL
through which recipients can access the Corresponding Source.
@licend The above is the entire license notice
for the JavaScript code in this tag.
*/
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@@ -281,14 +259,14 @@ for the JavaScript code in this tag.
<li><a href="#org101bfbc">3. High Authority Control in the joint space - \(\bm{K}_\mathcal{L}\)</a>
<ul>
<li><a href="#org259240d">3.1. Identification of the damped plant</a></li>
<li><a href="#org878cff7">3.2. Obtained Plant</a></li>
<li><a href="#orgb574395">3.2. Obtained Plant</a></li>
<li><a href="#orgdea5e17">3.3. Controller Design and Loop Gain</a></li>
</ul>
</li>
<li><a href="#org58f9f32">4. Primary Controller in the task space - \(\bm{K}_\mathcal{X}\)</a>
<ul>
<li><a href="#org82ca884">4.1. Identification of the linearized plant</a></li>
<li><a href="#orgb574395">4.2. Obtained Plant</a></li>
<li><a href="#org3b0d2c2">4.2. Obtained Plant</a></li>
<li><a href="#org839cdb3">4.3. Controller Design</a></li>
</ul>
</li>
@@ -385,7 +363,7 @@ We log the signals.
</div>
<div class="org-src-container">
<pre class="src src-matlab">Kx = tf(zeros(6));
<pre class="src src-matlab">Kp = tf(zeros(6));
Kl = tf(zeros(6));
Kiff = tf(zeros(6));
</pre>
@@ -517,8 +495,8 @@ isstable(Gl)
</div>
</div>
<div id="outline-container-org878cff7" class="outline-3">
<h3 id="org878cff7"><span class="section-number-3">3.2</span> Obtained Plant</h3>
<div id="outline-container-orgb574395" class="outline-3">
<h3 id="orgb574395"><span class="section-number-3">3.2</span> Obtained Plant</h3>
<div class="outline-text-3" id="text-3-2">
<p>
The obtain plant is shown in Figure <a href="#org455eb07">5</a>.
@@ -593,7 +571,7 @@ mdl = <span class="org-string">'nass_model'</span>;
<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
clear io; io_i = 1;
io(io_i) = linio([mdl, <span class="org-string">'/Controller/Cascade-HAC-LAC/Kx'</span>], 1, <span class="org-string">'input'</span>); io_i = io_i <span class="org-type">+</span> 1;
io(io_i) = linio([mdl, <span class="org-string">'/Controller/Cascade-HAC-LAC/Kp'</span>], 1, <span class="org-string">'input'</span>); io_i = io_i <span class="org-type">+</span> 1;
io(io_i) = linio([mdl, <span class="org-string">'/Tracking Error'</span>], 1, <span class="org-string">'output'</span>, [], <span class="org-string">'En'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Position Errror</span>
<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
@@ -615,8 +593,8 @@ isstable(Gx)
</div>
</div>
<div id="outline-container-orgb574395" class="outline-3">
<h3 id="orgb574395"><span class="section-number-3">4.2</span> Obtained Plant</h3>
<div id="outline-container-org3b0d2c2" class="outline-3">
<h3 id="org3b0d2c2"><span class="section-number-3">4.2</span> Obtained Plant</h3>
<div class="outline-text-3" id="text-4-2">
<div id="orge364e46" class="figure">
@@ -635,10 +613,10 @@ isstable(Gx)
h = 2; <span class="org-comment">% Lead parameter</span>
Kx = (1<span class="org-type">/</span>h) <span class="org-type">*</span> (1 <span class="org-type">+</span> s<span class="org-type">/</span>wc<span class="org-type">*</span>h)<span class="org-type">/</span>(1 <span class="org-type">+</span> s<span class="org-type">/</span>wc<span class="org-type">/</span>h) <span class="org-type">*</span> wc<span class="org-type">/</span>s <span class="org-type">*</span> (s <span class="org-type">+</span> 2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>5)<span class="org-type">/</span>s <span class="org-type">*</span> 1<span class="org-type">/</span>(1<span class="org-type">+</span>s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>20);
Kp = (1<span class="org-type">/</span>h) <span class="org-type">*</span> (1 <span class="org-type">+</span> s<span class="org-type">/</span>wc<span class="org-type">*</span>h)<span class="org-type">/</span>(1 <span class="org-type">+</span> s<span class="org-type">/</span>wc<span class="org-type">/</span>h) <span class="org-type">*</span> wc<span class="org-type">/</span>s <span class="org-type">*</span> (s <span class="org-type">+</span> 2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>5)<span class="org-type">/</span>s <span class="org-type">*</span> 1<span class="org-type">/</span>(1<span class="org-type">+</span>s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>20);
<span class="org-comment">% Normalization of the gain of have a loop gain of 1 at frequency wc</span>
Kx = Kx<span class="org-type">.*</span>diag(1<span class="org-type">./</span>diag(abs(freqresp(Gx<span class="org-type">*</span>Kx, wc))));
Kp = Kp<span class="org-type">.*</span>diag(1<span class="org-type">./</span>diag(abs(freqresp(Gx<span class="org-type">*</span>Kp, wc))));
</pre>
</div>
@@ -726,7 +704,7 @@ Ts = t(2)<span class="org-type">-</span>t(1);
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-03-25 mer. 19:23</p>
<p class="date">Created: 2020-04-01 mer. 16:16</p>
</div>
</body>
</html>