From 9b6094679bc6995ca1d7829490b319cadb8f92ce Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Fri, 6 Nov 2020 15:01:55 +0100 Subject: [PATCH] Add controller to Simscape --- index.org | 13 ++++++++++--- stewart_platform/drone_platform.slx | Bin 56251 -> 46835 bytes 2 files changed, 10 insertions(+), 3 deletions(-) diff --git a/index.org b/index.org index 2915ae4..3d5dce1 100644 --- a/index.org +++ b/index.org @@ -786,6 +786,13 @@ We load the Jacobian (previously computed from the geometry). load('./jacobian.mat', 'Aa', 'Ab', 'As', 'l', 'J'); #+end_src +We initialize other parameters: +#+begin_src matlab + U = eye(6); + V = eye(6); + Kc = tf(zeros(6)); +#+end_src + ** Identification of the plant <> @@ -1121,7 +1128,7 @@ The controller $K$ is a diagonal controller consisting a low pass filters with a wc = 2*pi*0.1; % Crossover Frequency [rad/s] C_g = 50; % DC Gain - K = eye(6)*C_g/(s+wc); + Kc = eye(6)*C_g/(s+wc); #+end_src The control diagram for the centralized control is shown in Figure [[fig:centralized_control]]. @@ -1155,7 +1162,7 @@ The Jacobian is used to convert forces in the cartesian frame to forces applied The feedback system is computed as shown below. #+begin_src matlab - G_cen = feedback(G, inv(J')*K, [7:12], [1:6]); + G_cen = feedback(G, inv(J')*Kc, [7:12], [1:6]); #+end_src The SVD control architecture is shown in Figure [[fig:svd_control]]. @@ -1188,7 +1195,7 @@ The matrices $U$ and $V$ are used to decoupled the plant $G$. The feedback system is computed as shown below. #+begin_src matlab - G_svd = feedback(G, pinv(V')*K*pinv(U), [7:12], [1:6]); + G_svd = feedback(G, pinv(V')*Kc*pinv(U), [7:12], [1:6]); #+end_src ** Closed-Loop system Performances diff --git a/stewart_platform/drone_platform.slx b/stewart_platform/drone_platform.slx index e098d543c302bcccbe6944ed8234ef154364d40f..f796276867d21a1510e184e6d63aea78c2250067 100644 GIT binary patch delta 31799 zcmbq)Q+Q@gvvxeOZ95a&ww+9D+juguZQHhOI}=+I+sV%R?r$G_|LK2HcXwAc?p5om ztGjxwjuz0n3lKO3X;3g!ARr(}AUQYFIygcQ&~I#D00{+#`YtG%v$@BZB=mt&0w!z+ z2oc}WB08cR@TKDROA!tiB~&xYRqasOpvr+^%<%zw_J-_H`CEU|3|uvuGcQ!Ltoyhu z?os1t#i7h?0~gPzJawiQprkU*v})JPQ}aPN5+}>!*%NVKStip}?Z zgc)7ELBrcF9QxbCBY+PhSEiGs>mEbh>Mjr<$y99HgGnecQ$vi zF|;+Xu>NUpYc{3fqLHxMfzJyZ76%ef0tN;S23BY!oaHRpA`#&%iBKpU3xQN5C{&1( z)(8nHAtR-Q8I_r`-8TJo+~ee0Reko>ec`cv?0fkdRwz@52zdbDLe8rM=Xq==Lt#5rnFhKlv_XW-I&RG9A8zl`hfD@J~HN5_zV zElu6)M(7?XhK&MT*wT>LUfNWxNO(P2@ 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