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work on tuning

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This commit is contained in:
zamofing_t
2018-11-08 14:23:43 +01:00
parent d7e0cf7764
commit 41a1fd3d38
7 changed files with 60 additions and 46 deletions
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42
matlab/StateSpaceControlDesign.m
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@@ -16,7 +16,6 @@ function [ssc]=StateSpaceControlDesign(mot)
%
% https://www.youtube.com/watch?v=Lax3etc837U
%ss_ol=mot.ssPlt;
ssPlt=mot.ssPlt; %real plant (model of real plant)
ssPlt.Name='open loop plant';
ssMdl=mot.ssMdl;%ssMdl; %simplified model (observable,controlable) for observer
@@ -93,6 +92,7 @@ function [ssc]=StateSpaceControlDesign(mot)
P=[p1 p1' p2 p2' p3 p3'];% p4 p4' p5 p5' p6 p6'];
end
end
%P=P*.1; % P was too aggressive
K = place(Am,Bm,P);
%K = acker(Am,Bm,Pm);
end %if lqr
@@ -118,29 +118,7 @@ function [ssc]=StateSpaceControlDesign(mot)
% *** observer controller ***
%
%observer poles-> 5 times farther left than system poles
if mot.id==1
op1=(p1*5);
op2=(p2*5);
if length(poles)>4
op3=(p3*5);
OP=[op1 op1' op2 op2' op3 op3'];
else
OP=[op1 op1' op2 op2'];
end
else
op1=(p1*2);
op2=(p2*2);
if length(poles)>4
op3=(p3*2);
op4=(p4*2);
op5=(p5*2);
op6=(p6*2);
OP=[op1 op1' op2 op2' op3 op3'];% op4 op4' op5 op5' op6 op6'];
else
OP=[op1 op1' op2 op2'];
end
end
OP=2*P;
L=place(Am',Cm',OP)';
%L=acker(A',C',OP)';
@@ -150,8 +128,9 @@ function [ssc]=StateSpaceControlDesign(mot)
zeros(size(Bm)) ];
Ct = [ Cm zeros(size(Cm)) ];
Dt=0;
% step answer on closed loop with observer controller:
ss_t = ss(At,Bt,Ct,0,'Name','observer controller','InputName',{'desPos'},'OutputName',mot.ssMdl.OutputName);
ss_t = ss(At,Bt,Ct,Dt,'Name','observer controller','InputName',{'desPos'},'OutputName',mot.ssMdl.OutputName);
figure();lsim(ss_t,ones(size(t)),t,[xm0 xm0]);title('step on closed loop with observer');
@@ -159,12 +138,12 @@ function [ssc]=StateSpaceControlDesign(mot)
%
Ts=1/5000; % 5kHz
ss_tz = c2d(ss_t,Ts);
[Atz,Btz,Ctz,Dtz]=ssdata(ss_tz );
ss_tz .Name='discrete obsvr ctrl';
% step answer on closed loop with disctrete observer controller:
t = 0:Ts:.05;
figure();lsim(ss_tz ,ones(size(t)),t,[xm0 xm0]);title('step on closed loop with observer discrete');
%plot all bode diagrams of desPos->actPos
figure();
h=bodeplot(ss_cl(3),ss_t(3),ss_tz(3));
@@ -182,20 +161,23 @@ function [ssc]=StateSpaceControlDesign(mot)
Do=zeros(size(Co,1),size(Bo,2));
ss_o = ss(Ao,Bo,Co,Do,'Name','observer controller','InputName',{'desPos','iqMeas','iqVolts','actPos'},'OutputName',{'k*xt'});
%discrete plant
ssPltz = c2d(ssPlt,Ts);
[Apz,Bpz,Cpz,Dpz]=ssdata(ssPltz);
%discrete observer controller
ss_oz = c2d(ss_o,Ts);
[Aoz,Boz,Coz,Doz]=ssdata(ss_oz);
mdlName='observer';
open(mdlName);
ssPltz = c2d(ssPlt,Ts);
[Apz,Bpz,Cpz,Dpz]=ssdata(ssPltz);
%state space controller
ssc=struct();
for k=["Ts","Ap","Bp","Cp","Dp","Ao","Bo","Co","Do","Apz","Bpz","Cpz","Dpz","Aoz","Boz","Coz","Doz","V","K","L","ss_cl","ss_o","ss_oz","numV","denV"]
for k=["Ts","At","Bt","Ct","Dt","Atz","Btz","Ctz","Dtz","Ap","Bp","Cp","Dp","Am","Bm","Cm","Dm","Ao","Bo","Co","Do","Apz","Bpz","Cpz","Dpz","Aoz","Boz","Coz","Doz","V","K","L","ss_cl","ss_o","ss_oz","numV","denV"]
ssc=setfield(ssc,k,eval(k));
end
save(sprintf('/tmp/ssc%d.mat',mot.id),'-struct','ssc');