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