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Added matlab code samples.

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All of these code samples currently are mis-identified in my repositories. I'm
donating them to the cause.
This commit is contained in:
Jason Moore
2013-01-30 13:12:45 -08:00
parent 121f096173
commit 9bb230d7c8
17 changed files with 2121 additions and 0 deletions
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69
samples/Matlab/test_system_state_space.m Normal file
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gains = [76.3808, -0.0516, 7.2456, 0.2632, 0.0708];
wnm = 30;
zetanm = 0.707;
data = generate_data('Rigid', 7.0, 'gains', gains, 'neuroFreq', wnm, ...
'loopTransfer', 0, 'handlingQuality', 0, 'simulate', 0);
bicycle = ss(data.modelPar.A, data.modelPar.B, data.modelPar.C, ...
data.modelPar.D);
bicycle.StateName = {'xP', 'yP', 'psi', 'phi', 'thetaB', 'thetaR', 'delta', ...
'thetaF', 'phiDot', 'thetaRDot', 'deltaDot'};
bicycle.OutputName = {'xP', 'yP', 'psi', 'phi', 'thetaB', 'thetaR', 'delta', ...
'thetaF', 'xPDot', 'yPDot', 'psiDot', 'phiDot', ...
'thetaBDot', 'thetaRDot', 'deltaDot', 'thetaFDot', 'xQ', 'yQ'};
bicycle.InputName = {'tPhi', 'tDelta', 'fB'};
inputs = {'fB'};
outputs = [bicycle.OutputName; 'tDelta'];
analytic = system_state_space('lateral', bicycle, gains, [wnm, zetanm], inputs, outputs);
numeric = ss(data.system.A, data.system.B, data.system.C, data.system.D);
%numeric.StateName = data.bicycle.states;
%numeric.InputName = data.bicycle.inputs;
%numeric.OutputName = data.bicycle.outputs;
figure()
pzplot(analytic, numeric)
% plot the transfer function roll-rate/lateral force for both
figure()
hold all
% plot my analytic model
[num, den] = ss2tf(analytic.A, analytic.B, analytic.C, analytic.D, 1);
mine = tf(num(find(strcmp('phiDot', outputs)), :), den);
bode(tf(num(find(strcmp('phiDot', outputs)), :), den))
% plot the data from the simulink model
bode(tf(data.forceTF.PhiDot.num, data.forceTF.PhiDot.den))
[num, den] = ss2tf(numeric.A, numeric.B, numeric.C, numeric.D, 1);
bode(tf(num(12, :), den))
display('Analytic Eigenvalues')
eig(analytic.A)
display('Numeric Eigenvalues')
eig(numeric.A)
% Now see if the heading tracking works.
gains = [76.3808, -0.0516, 7.2456, 0.2632];
wnm = 30;
zetanm = 0.707;
par = par_text_to_struct('parameters/RigidPar.txt');
[A, B, C, D] = whipple_pull_force_ABCD(par, 7.0);
bicycle = ss(A([3, 4, 7, 9, 11], [3, 4, 7, 9, 11]), ...
B([3. 4, 7, 9, 11], [2, 3]), eye(5), 0);
bicycle.StateName = {'psi', 'phi', 'delta', 'phiDot', 'deltaDot'};
bicycle.OutputName = {'psi', 'phi', 'delta', 'phiDot', 'deltaDot'};
bicycle.InputName = {'tDelta', 'fB'};
inputs = {'fB'};
outputs = [bicycle.OutputName; 'tDelta'];
analytic = system_state_space('heading', bicycle, gains, [wnm, zetanm], inputs, outputs);
% the following two should be the same
analytic.A(end, :)
bottomRow = [-wnm^2 * prod(gains), -wnm^2 * prod(gains(1:3)), ...
-wnm^2 * gains(1), -wnm^2 * prod(gains(1:2)), 0, -wnm^2, ...
-2 * wnm * zetanm]