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cnpcshangbo / simscapeFOPD

Simscape drone altitude control with fractional order proportional derivate controller
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Speed loop needs more integrator #15

Open cnpcshangbo opened 6 years ago

cnpcshangbo commented 6 years ago

From this issue https://github.com/cnpcshangbo/simscapeFOPD/issues/14#issuecomment-371405551 We know that the speed loop needs more integrator.

cnpcshangbo commented 6 years ago

From sys ID, K=1.102, T1=0.17936 From iopid_tune.m Kp = 10.7, Ki = 15.2, Kd = 1.66 CrossoverFrequency: 9.9298 PhaseMargin: 83.8783

cnpcshangbo commented 6 years ago

CrossPoint (lambda=-0.9693, ki=0.1631) kp = 9.9498;

cnpcshangbo commented 6 years ago

image

cnpcshangbo commented 6 years ago

image

cnpcshangbo commented 6 years ago

/Users/standard/Documents/GitHub/simscapeFOPD/QuadRotor/work/IRID/phiz_cal.m Cd.Num= [1.72350618609064,-5.70339892298403,7.11891293410561,-4.08227197470563,1.02223847578118,-0.0786444191365231]; Cd.den= [0.0101201839324044,-0.0228427827690589,0.0162967440497079,-0.00320636053105791,-0.000423005899049262,8.95094110425754e-05];

cnpcshangbo commented 6 years ago

The next is to test the discrete FOC in Simscape and /Users/standard/Documents/GitHub/simscapeFOPD/QuadRotor/work/IRID/verify.slx

cnpcshangbo commented 6 years ago

Numerical simulation result: image

cnpcshangbo commented 6 years ago

This is the curve in drone simulator. The spread at last is due to roll, pitch and yaw. I already have plan on this: https://github.com/cnpcshangbo/simscapeFOPD/issues/20 image

cnpcshangbo commented 6 years ago

I am going to use this commit to write up my article to submit on March 18. 68d07ef7d1540219dd15e1defe490b6d6d4c81ff