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refactor gain to matrix names, break out sum3 out of sum4

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Thefeli73 2021-04-19 17:21:58 +02:00
parent e45732e5d1
commit a6fb0d5e77
1 changed files with 28 additions and 18 deletions
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46
EENX15_LQR/LQR.ino
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@ -8,39 +8,40 @@
// Expression: A // Expression: A
// Referenced by: '<Root>/Gain4' // Referenced by: '<Root>/Gain4'
const double Gain4_Gain [16] = { 0.0, 0.0, 0.0, 0.0, const double matrix_A [16] = { 0.0, 0.0, 0.0, 0.0,
1.0, -0.20780947085442231, 0.0, -0.52810302415000854, 1.0, -0.20780947085442231, 0.0, -0.52810302415000854,
0.0, 13.239785742831822, 0.0, 58.601480177829842, 0.0, 13.239785742831822, 0.0, 58.601480177829842,
0.0, 0.0, 1.0, 0.0 }; 0.0, 0.0, 1.0, 0.0 };
//const double Gain4_Gain [16] = {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0}; //const double matrix_A [16] = {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0};
// Expression: C // Expression: C
// Referenced by: '<Root>/Gain6' // Referenced by: '<Root>/Gain6'
const double Gain6_Gain [8] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0 }; const double matrix_C [8] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0 };
//const double Gain6_Gain [8] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; //const double matrix_C [8] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
// Expression: L // Expression: L
// Referenced by: '<Root>/Gain2' // Referenced by: '<Root>/Gain2'
const double Gain2_Gain [8] = { 116.63033952875418, 3387.8673967111704, -1.4473912197449676, const double matrix_L [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 Gain2_Gain [8] = { 116.63033952875418, 338.78673967111704, -1.4473912197449676, //const double matrix_L [8] = { 116.63033952875418, 338.78673967111704, -1.4473912197449676,
// -115.34372132703447, -1.0534041975488044, -48.223441605702455, // -115.34372132703447, -1.0534041975488044, -48.223441605702455,
// 117.16185100039935, 34.900480780568214 }; // 117.16185100039935, 34.900480780568214 };
// Expression: B // Expression: B
// Referenced by: '<Root>/Gain3' // Referenced by: '<Root>/Gain3'
const double Gain3_Gain [4] = { 0.0, 2.078094708544223, 0.0, 5.2810302415000852 }; const double matrix_B [4] = { 0.0, 2.078094708544223, 0.0, 5.2810302415000852 };
// | /////////////////////////////////// // | ///////////////////////////////////
// | //Row 261-264 in Arduino_skal.cpp // | //Row 261-264 in Arduino_skal.cpp
// v /////////////////////////////////// // v ///////////////////////////////////
double Integrator1_CSTATE [4] = {0.0, 0.0, 0.0, 0.0}; double Integrator1_CSTATE [4] = {0.0, 0.0, 0.0, 0.0};
double Sum3[4];
double Sum4[4]; double Sum4[4];
// | /////////////////////////////////// // | ///////////////////////////////////
@ -77,10 +78,10 @@ double saturatedSignalToMotors(){
double inputToControlSystem(float position_m, float angle_r){ double inputToControlSystem(float position_m, float angle_r){
float posAndAng[] = {position_m, angle_r}; float posAndAng[] = {position_m, angle_r};
for (int i = 0; i < 2; i++) { for (int i = 0; i < 2; i++) {
tmp[i] = posAndAng[i] - (((Gain6_Gain[i + 2] * tmp[i] = posAndAng[i] - (((matrix_C[i + 2] *
Integrator1_CSTATE[1] + Gain6_Gain[i] * Integrator1_CSTATE[1] + matrix_C[i] *
Integrator1_CSTATE[0]) + Gain6_Gain[i + 4] * Integrator1_CSTATE[0]) + matrix_C[i + 4] *
Integrator1_CSTATE[2]) + Gain6_Gain[i + 6] * Integrator1_CSTATE[2]) + matrix_C[i + 6] *
Integrator1_CSTATE[3]); Integrator1_CSTATE[3]);
} }
@ -92,18 +93,27 @@ double inputToControlSystem(float position_m, float angle_r){
// Gain: '<Root>/Gain4' // Gain: '<Root>/Gain4'
// Integrator: '<Root>/Integrator1' // Integrator: '<Root>/Integrator1'
// Sum: '<Root>/Sum3' // Sum: '<Root>/Sum3'
Sum4[i] = ((Gain2_Gain[i + 4] * tmp[1] + Gain2_Gain[i]
* tmp[0]) + Gain3_Gain[i] * rtb_Saturation) + Sum3[i] = ((matrix_L[i + 4] * tmp[1] + matrix_L[i]
(Gain4_Gain[i + 12] * Integrator1_CSTATE[3] + * tmp[0]) + matrix_B[i] * rtb_Saturation);
(Gain4_Gain[i + 8] * Integrator1_CSTATE[2] +
(Gain4_Gain[i + 4] * Integrator1_CSTATE[1] + Sum4[i] = Sum3[i] +
Gain4_Gain[i] * Integrator1_CSTATE[0]))); (matrix_A[i + 12] * Integrator1_CSTATE[3] +
(matrix_A[i + 8] * Integrator1_CSTATE[2] +
(matrix_A[i + 4] * Integrator1_CSTATE[1] +
matrix_A[i] * Integrator1_CSTATE[0])));
} }
Serial.print("Sum3 0 = "); Serial.println(Sum3[0]);
Serial.print("Sum3 1 = "); Serial.println(Sum3[1]);
Serial.print("Sum3 2 = "); Serial.println(Sum3[2]);
Serial.print("Sum3 3 = "); Serial.println(Sum3[3]);
Serial.print("Sum4 0 = "); Serial.println(Sum4[0]); Serial.print("Sum4 0 = "); Serial.println(Sum4[0]);
Serial.print("Sum4 1 = "); Serial.println(Sum4[1]); Serial.print("Sum4 1 = "); Serial.println(Sum4[1]);
Serial.print("Sum4 2 = "); Serial.println(Sum4[2]); Serial.print("Sum4 2 = "); Serial.println(Sum4[2]);
Serial.print("Sum4 3 = "); Serial.println(Sum4[3]); Serial.print("Sum4 3 = "); Serial.println(Sum4[3]);
Arduino_skal_derivatives(); Arduino_skal_derivatives();
return saturatedSignalToMotors(); return saturatedSignalToMotors();
} }