[paparazzi-commits] [6325] airspeed loop design

[Christophe De Wagter]

Revision: 6325
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6325
Author:   dewagter
Date:     2010-11-03 06:59:02 +0000 (Wed, 03 Nov 2010)
Log Message:
-----------
airspeed loop design

Modified Paths:
--------------
    paparazzi3/trunk/sw/in_progress/airspeed/ultrasimplesim.m

Modified: paparazzi3/trunk/sw/in_progress/airspeed/ultrasimplesim.m
===================================================================
--- paparazzi3/trunk/sw/in_progress/airspeed/ultrasimplesim.m   2010-11-03 
06:41:38 UTC (rev 6324)
+++ paparazzi3/trunk/sw/in_progress/airspeed/ultrasimplesim.m   2010-11-03 
06:59:02 UTC (rev 6325)
@@ -5,7 +5,7 @@
 
 
 dt = 1/60;
-simsteps = 16000;
+simsteps = 25000;
 
 timespan=0:1/60:100;
 
@@ -22,23 +22,46 @@
 elevator = 0;
 
 
+% Altitude command
+altitude_sp  = ones(1,simsteps).* 100;
 % Airspeed command
-airspeed_sp  = ones(1,simsteps).* 11;
-airspeed_sp(1,6000:12000) = 16;
-airspeed_sp(1,13000:14000) = 7;
+airspeed_sp  = ones(1,simsteps).* 12;
 
-% Altitude command
-altitude_sp  = ones(1,simsteps).* 100;
+% slow climb + descend
 altitude_sp(1,2000:4000) = 125;
+% fast climb + descend
+airspeed_sp(1,6000:12000) = 16;
 altitude_sp(1,8000:10000) = 125;
-
+% too low airspeed
+airspeed_sp(1,13000:14000) = 7;
+% too high airspeed
+airspeed_sp(1,15000:16000) = 30;
+% throttle kill batlow
 battery_good = ones(1,simsteps);
-battery_good(1,15000:16000) = 0;
+battery_good(1,24000:25000) = 0;
+% Roll perturbation
+roll_perturbation = zeros(1,simsteps);
+% roll oscillation: e.g. poor nav
+roll_perturbation(1,21000:24000) = abs(sin((21000:24000)./170 .* 6.28));
+% Headwind changes by making turns
+% -to keep a constant airspeed, a kinematic acceleration is needed
+% -or with constant kinetic energy, a change in airspeed is seen
+wind = zeros(1,simsteps);
+% 60Hz 70m circle 11m/s 410m = ca 2000 samples
+wind(1, 17000:23000) = sin((17000:23000)./2000 .* 6.28) .* 5;
+% derivative of sin is cos so we might also just turn the wind 90deg
+headwind_induced_kinematic_acceleration = wind .* 0.10;
 
-% Save state
-X = zeros(simsteps,13);
 
-% Very sofisticated Aircraft Model
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Save states for plotting
+X = zeros(simsteps,15);
+extra1 = 0;
+extra2 = 0;
+
+% Very ultra-sofisticated Aircraft Model
 Vmax    = 26;   % Level flight full power
 Vmin    = 8;    % Stall
 Mass    = 1.0;
@@ -47,15 +70,22 @@
 pitch_cumsum = 0;
 airspeed_cumsum = 0;
 
-controller = 1;
+% RLS
+rls_p = 3;
+rls_delta = 0;
+rls_x = zeros(rls_p+1, 1);
+rls_w = zeros(rls_p+1, 1);
+rls_P = eye(rls_p+1) .* rls_delta;
 
+
 for i=1:simsteps
     
     %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
     % Simplified A/C long dynamics with stall and energy
     %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
     % Pitch loop without integrators
-    elevator = (pitch_sp - pitch) * 15;
+    pitch_neutral = 0.2;
+    elevator = (pitch_neutral + pitch_sp - pitch) * 15;
     if (elevator > 0.4)
         elevator = 0.4;
     elseif (elevator < -0.2)
@@ -68,13 +98,13 @@
         alpha = 0;
         LoverD = 6;
     elseif airspeed < Vmin
-        % from Vmin downto 3/4Vmin ... increase alpha from 17 to 45 deg 
-        lin = (Vmin-airspeed) / (Vmin/4);
-        if (lin > 2)
-            lin = 2;
+        % from Vmin downto 0.95 Vmin ... increase alpha from 17 to 45 deg 
+        lin = (Vmin-airspeed) / (0.05*Vmin);
+        if (lin > 1)
+            lin = 1;
         end
-        alpha = (17 + (45-17) * lin) / 57; % complete stall
-        LoverD = 8 + (4.1-8) * lin;
+        alpha = (17 + (60-17) * lin) / 57; % complete stall
+        LoverD = 8 - 7 * lin;
     else
         alpha = (Vmax - airspeed) / (Vmax-Vmin) * 17.0 / 57;
         LoverD = 8;
@@ -86,11 +116,8 @@
     % Using the pitch angle...
     P_climb = vclimb * Mass;
     % Lift over Drag
-    P_drag = airspeed / LoverD * Mass;
+    P_drag = airspeed / (LoverD / (1+roll_perturbation(i))) * Mass;
     % Motor Energy
-    if battery_good(i) == 0
-        throttle = 0;
-    end
     power_sp = throttle ^ 2;
     power = power + (power_sp - power) * 0.1;
     % Full throttle = same energy as vmax glide
@@ -98,7 +125,7 @@
     % Total energy
     P_tot = P_motor - P_drag - P_climb;
 
-    acceleration = P_tot / Mass;
+    acceleration = P_tot / Mass + headwind_induced_kinematic_acceleration(i);
     airspeed = airspeed + (acceleration * dt);
     
     if (airspeed < Vmin/2)
@@ -108,88 +135,233 @@
         altitude = 0;
     end
     
+    
+    controller = 4;
+
+
+    
     %%%%%%%%%%%%%%%%%%%%%%%%%
-    % Run Control 1
+    % Run Control 1: Standard no-airspeed
     
     if controller == 1
-        Throttle_min = 0.2;
-        Throttle_max = 0.9;
+        Throttle_min = 0.0;
+        Throttle_max = 1.;
         
-        Pitch_min = -20/57;
-        Pitch_max = 30/57;
+        Pitch_min = -30/57;
+        Pitch_max = 45/57;
 
+        VClimb_max = 3;
         
 
         % Traditional with integrators:
 
         vclimb_sp = (altitude_sp(i) - altitude);
-        if (vclimb_sp > 3)
-            vclimb_sp = 3;
-        elseif (vclimb_sp < -3)
-            vclimb_sp = -3;
+        if (vclimb_sp > VClimb_max)
+            vclimb_sp = VClimb_max;
+        elseif (vclimb_sp < -VClimb_max)
+            vclimb_sp = -VClimb_max;
         end
-        throttle = vclimb_sp * 0.33;
+        % throttle increment only....
+        throttle = 0.65 + vclimb_sp * 0.9;
         if (throttle > Throttle_max)
             throttle = Throttle_max;
         elseif (throttle < Throttle_min)
             throttle = Throttle_min;
         end
+        % pitch of vz
+        pitch_sp = 0.025 +  vclimb_sp * 0.05;
+        if (pitch_sp > Pitch_max)
+            pitch_sp = Pitch_max;
+        elseif (pitch_sp < Pitch_min)
+            pitch_sp = Pitch_min;
+        end 
+
+    %%%%%%%%%%%%%%%%%%%%%%%%%
+    % Run Control 2-3: Old Airspeed Loops
+    % 2: with saturated integrator as most people used
+    % 3: with active integrator
+    
+    elseif (controller == 2) || (controller == 3)
+        Throttle_min = 0.0;
+        Throttle_max = 1;
+        
+        Pitch_min = -6/57;
+        Pitch_max = 15/57;
+
+        VClimb_max = 1.0;
+        
+        
+
+        % Traditional with integrators:
+
+        vclimb_sp = (altitude_sp(i) - altitude);
+        if (vclimb_sp > VClimb_max)
+            vclimb_sp = VClimb_max;
+        elseif (vclimb_sp < -VClimb_max)
+            vclimb_sp = -VClimb_max;
+        end
+        % I-gain
+        pitch_cumsum = pitch_cumsum + (vclimb_sp - vclimb) * 0.0015;
+        if (pitch_cumsum > Pitch_max)
+            pitch_cumsum = Pitch_max;
+        elseif (pitch_cumsum < Pitch_min)
+            pitch_cumsum = Pitch_min;
+        end 
         % P-gain
-        pitch_sp = 0.1 +  vclimb_sp * 0.05;
+        pitch_sp = pitch_cumsum +  vclimb_sp * 0.025;
         if (pitch_sp > Pitch_max)
             pitch_sp = Pitch_max;
         elseif (pitch_sp < Pitch_min)
             pitch_sp = Pitch_min;
         end 
 
+        err_airspeed = airspeed_sp(i) - airspeed;
+        if (controller == 2)
+            airspeed_cumsum = 0.45;
+        else
+            airspeed_cumsum = airspeed_cumsum + err_airspeed * 0.001;
+        end
+        if (airspeed_cumsum > Throttle_max)
+            airspeed_cumsum = Throttle_max;
+        elseif (airspeed_cumsum < Throttle_min)
+            airspeed_cumsum = Throttle_min;
+        end
+        throttle = airspeed_cumsum + err_airspeed * 0.2;
+        if (throttle > Throttle_max)
+            throttle = Throttle_max;
+        elseif (throttle < Throttle_min)
+            throttle = Throttle_min;
+        end
+    
     %%%%%%%%%%%%%%%%%%%%%%%%%
-    % Run Control 2
+    % Run Control 4: Feed Forward Gains to climb/accelerate Tcr+Tcl
     
-    elseif controller == 2
-        Throttle_min = 0.15;
+    elseif controller == 4
+        Throttle_min = 0.0;
         Throttle_max = 1;
         
-        Pitch_min = 6/57;
-        Pitch_max = 18/57;
+        Pitch_min = -12/57;
+        Pitch_max = 25/57;
 
+        if (airspeed_sp(i) <= 12)
+            VClimb_max = 3;
+            Pitch_max = 10.5/57;
+            Pitch_min = -4.5/57;
+        else
+            VClimb_max = 2;
+            Pitch_max = 3.5/57;
+            Pitch_min = -11/57;
+        end
         
+        % Climb feed forward gain per m/s
+        Tcl = 0.25;
+        % Cruise feed forward gain per m/s
+        Tcr = 1/26;
 
         % Traditional with integrators:
 
         vclimb_sp = (altitude_sp(i) - altitude);
-        if (vclimb_sp > 3)
-            vclimb_sp = 3;
-        elseif (vclimb_sp < -3)
-            vclimb_sp = -3;
+        if (vclimb_sp > VClimb_max)
+            vclimb_sp = VClimb_max;
+        elseif (vclimb_sp < -VClimb_max)
+            vclimb_sp = -VClimb_max;
         end
         % I-gain
-        pitch_cumsum = pitch_cumsum + vclimb_sp * 0.001;
+        pitch_cumsum = pitch_cumsum + (vclimb_sp - vclimb) * 0.0015;
         if (pitch_cumsum > Pitch_max)
             pitch_cumsum = Pitch_max;
         elseif (pitch_cumsum < Pitch_min)
             pitch_cumsum = Pitch_min;
         end 
         % P-gain
-        pitch_sp = pitch_cumsum +  vclimb_sp * 0.05;
+        pitch_sp = pitch_cumsum +  vclimb_sp * 0.025;
+        if (pitch_sp > Pitch_max)
+            pitch_sp = Pitch_max;
+        elseif (pitch_sp < Pitch_min)
+            pitch_sp = Pitch_min;
+        end 
 
         err_airspeed = airspeed_sp(i) - airspeed;
-        airspeed_cumsum = airspeed_cumsum + err_airspeed * 0.0002;
+        airspeed_cumsum = airspeed_cumsum + err_airspeed * 0.0005;
         if (airspeed_cumsum > Throttle_max)
             airspeed_cumsum = Throttle_max;
         elseif (airspeed_cumsum < Throttle_min)
             airspeed_cumsum = Throttle_min;
         end
-        throttle = airspeed_cumsum + err_airspeed * 0.08;
+        throttle = airspeed_cumsum + err_airspeed * 0.2 + Tcr * airspeed_sp(i) 
+ Tcl * vclimb_sp;
         if (throttle > Throttle_max)
             throttle = Throttle_max;
         elseif (throttle < Throttle_min)
             throttle = Throttle_min;
         end
     
-    end    
+    %%%%%%%%%%%%%%%%%%%%%%%%%
+    % Run Control 5: Feed Forward Gains to climb/accelerate Tcr+Tcl
     
+    elseif controller == 5
+        Throttle_min = 0.0;
+        Throttle_max = 1;
+        
+        Pitch_min = -6/57;
+        Pitch_max = 15/57;
+
+        VClimb_max = 1.0;
+        
+        if (i==1)
+            % Climb feed forward gain per m/s
+            Tcl = 0.25;
+            % Cruise feed forward gain per m/s
+            Tcr = 1/2000;
+        end
+
+        % Traditional with integrators:
+
+        vclimb_sp = (altitude_sp(i) - altitude);
+        if (vclimb_sp > VClimb_max)
+            vclimb_sp = VClimb_max;
+        elseif (vclimb_sp < -VClimb_max)
+            vclimb_sp = -VClimb_max;
+        end
+        % I-gain
+        pitch_cumsum = pitch_cumsum + (vclimb_sp - vclimb) * 0.0015;
+        if (pitch_cumsum > Pitch_max)
+            pitch_cumsum = Pitch_max;
+        elseif (pitch_cumsum < Pitch_min)
+            pitch_cumsum = Pitch_min;
+        end 
+        % P-gain
+        pitch_sp = pitch_cumsum +  vclimb_sp * 0.025;
+        if (pitch_sp > Pitch_max)
+            pitch_sp = Pitch_max;
+        elseif (pitch_sp < Pitch_min)
+            pitch_sp = Pitch_min;
+        end 
+
+        err_airspeed = airspeed_sp(i) - airspeed;
+        if (abs(vclimb_sp) > 0.5)        
+            %Tcl = Tcl + err_airspeed/airspeed_sp(i) * 0.05 * 0.01;
+            Tcr = Tcr + err_airspeed/airspeed_sp(i) * 0.05 * 0.001;
+        else
+            %Tcl = Tcl + err_airspeed/airspeed_sp(i) * 0.05 * 0.001;
+            Tcr = Tcr + err_airspeed/airspeed_sp(i) * 0.05 * 0.01;
+        end
+        throttle = err_airspeed * 0.2 + Tcr * airspeed_sp(i) + Tcl * vclimb_sp;
+        if (throttle > Throttle_max)
+            throttle = Throttle_max;
+        elseif (throttle < Throttle_min)
+            throttle = Throttle_min;
+        end
+    
+        extra1 = Tcr;
+    end
+    
+    % Autopilot actions
+    if battery_good(i) == 0
+        throttle = 0;
+    end
+    
     % Save For plotting
-    X(i,:) = [  airspeed_sp(i) airspeed altitude_sp(i) altitude  throttle 
power pitch_sp pitch alpha gamma elevator vclimb_sp vclimb]; 
+    X(i,:) = [  airspeed_sp(i) airspeed altitude_sp(i) altitude  throttle 
power pitch_sp (pitch-pitch_neutral) alpha gamma elevator vclimb_sp vclimb 
extra1 extra2]; 
     
 end
 
@@ -203,42 +375,55 @@
 plot(ones(simsteps,1)*Vmin,'k');
 plot(ones(simsteps,1)*Vmax,'k');
 title('Airspeed')
+axis([0 simsteps Vmin-1 Vmax+1]);
 grid
 
 subplot(6,1,2)
 hold on
-plot(X(:,7)*57,'r');
-plot(X(:,8)*57,'b');
-title('Pitch')
+plot(altitude_sp,'r');
+plot(X(:,4),'b');
+title('Altitude')
+axis([0 simsteps (min(altitude_sp) - 10) (max(altitude_sp)+10)]);
 grid
 
 subplot(6,1,3)
 hold on
 plot(X(:,5),'r');
 title('Throttle')
+axis([0 simsteps 0 1]);
 grid
 
 
 subplot(6,1,4)
 hold on
+plot(X(:,7)*57,'r');
+plot(X(:,8)*57,'b');
+title('Pitch (degrees)')
+axis([0 simsteps (Pitch_min*57-3) (Pitch_max*57 + 3)]);
+grid
+
+subplot(6,1,5)
+hold on
 plot(X(:,9)*57,'g');
 plot(ones(simsteps,1)*17,'r');
 plot(X(:,10)*57,'k');
-title('Alpha Gamma (degrees)')
+axis([0 simsteps -10 20]);
+title('Alpha (green) Gamma (black) (degrees)')
 %legend('1','2')
 grid
 
-subplot(6,1,5)
+subplot(6,1,6)
 hold on
 plot(X(:,12),'r');
 plot(X(:,13),'b');
 title('VClimb')
+axis([0 simsteps (-VClimb_max -0.5) (VClimb_max + 0.5)]);
 grid
 
-subplot(6,1,6)
-hold on
-plot(altitude_sp,'r');
-plot(X(:,4),'b');
-title('Altitude')
-grid
+set(gcf,'PaperUnits','centimeter')
+set(gcf,'PaperSize',[21 30.5])
+set(gcf,'PaperPosition',[1 1 19 28.5])
+print(gcf,'-depsc2', ['results_' num2str(controller)]);
+%print(gcf,'-djpeg', ['results_' num2str(controller)]);
 
+