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add k matrix as matrix, try some stuff, add time var

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Thefeli73 2021-04-20 13:28:01 +02:00
parent c2061717e6
commit a118b606dd
1 changed files with 13 additions and 8 deletions
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21
EENX15_LQR/LQR.ino
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@ -24,7 +24,9 @@ const double matrix_C [8] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0 };
// Expression: L // Expression: L
// Referenced by: '<Root>/Gain2' // Referenced by: '<Root>/Gain2'
const double matrix_L [8] = { 116.63033952875418, 3387.8673967111704, -1.4473912197449676, const double matrix_L [8] = { 56.7847, 799.5294, -1.4914, -57.4160,
-1.0363, -16.1071, 57.0075, 870.8172 };
const double matrix_L_old [8] = { 116.63033952875418, 3387.8673967111704, -1.4473912197449676,
-115.34372132703447, -1.0534041975488044, -48.223441605702455, -115.34372132703447, -1.0534041975488044, -48.223441605702455,
117.16185100039935, 3490.0480780568214 }; 117.16185100039935, 3490.0480780568214 };
//const double matrix_L [8] = { 116.63033952875418, 338.78673967111704, -1.4473912197449676, //const double matrix_L [8] = { 116.63033952875418, 338.78673967111704, -1.4473912197449676,
@ -37,6 +39,9 @@ const double matrix_L [8] = { 116.63033952875418, 3387.8673967111704, -1.4473912
const double matrix_B [4] = { 0.0, 2.078094708544223, 0.0, 5.2810302415000852 }; const double matrix_B [4] = { 0.0, 2.078094708544223, 0.0, 5.2810302415000852 };
const double matrix_K_old [4] = {-31.622776601683942, -21.286439360075747, 80.789376267003959, 13.42463576551093};
const double matrix_K [4] = {-0.0316, -0.3938, 22.9455, 3.0629};
// | /////////////////////////////////// // | ///////////////////////////////////
// | //Row 261-264 in Arduino_skal.cpp // | //Row 261-264 in Arduino_skal.cpp
// v /////////////////////////////////// // v ///////////////////////////////////
@ -57,15 +62,15 @@ double rtb_Saturation = 0.0;
// Denna funktion bör anropas när styrka + riktning till motorer ska bestämmas. // Denna funktion bör anropas när styrka + riktning till motorer ska bestämmas.
double saturatedSignalToMotors(){ double saturatedSignalToMotors(){
rtb_Saturation = ((-31.622776601683942 * Integrator1_CSTATE[0] + rtb_Saturation = ((matrix_K[0] * Integrator1_CSTATE[0] +
-21.286439360075747 * Integrator1_CSTATE[1]) + matrix_K[1] * Integrator1_CSTATE[1]) +
80.789376267003959 * Integrator1_CSTATE[2]) + matrix_K[2] * Integrator1_CSTATE[2]) +
13.42463576551093 * Integrator1_CSTATE[3]; matrix_K[3] * Integrator1_CSTATE[3];
if (0.0 - rtb_Saturation > 11.5) { if (0.0 - rtb_Saturation > 11.5) {
rtb_Saturation = 11.5; rtb_Saturation = 3.0;
} else if (0.0 - rtb_Saturation < -11.5) { } else if (0.0 - rtb_Saturation < -11.5) {
rtb_Saturation = -11.5; rtb_Saturation = -3.0;
} else { } else {
rtb_Saturation = 0.0 - rtb_Saturation; rtb_Saturation = 0.0 - rtb_Saturation;
} }
@ -141,7 +146,7 @@ void Arduino_skal_derivatives()
*/ */
// Derivatives for Integrator: '<Root>/Integrator1' // Derivatives for Integrator: '<Root>/Integrator1'
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
Integrator1_CSTATE[i] = Sum4[i] * 80/1000.0; Integrator1_CSTATE[i] = Sum4[i] * fastTimer/1000.0;
Serial.print("Integrator: "); Serial.println(Integrator1_CSTATE[i]); Serial.print("Integrator: "); Serial.println(Integrator1_CSTATE[i]);
} }
} }