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changes to attempt to improve azimuth control : azimuth feedback calculation now acting on tilt_sp instead of the pitch_cmd. Tried increasing omega_pitch_ref to see if it would allow gain to increase with producing oscillations. Testing not too encouraging.

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This commit is contained in:
Paul Cox
2010-08-18 16:55:29 +00:00
parent a2a61e7ada
commit db014fbb24
3 changed files with 11 additions and 6 deletions
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conf/messages.xml
+3
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@@ -641,10 +641,13 @@
<field name="pitch_fb" type="float"/>
<field name="thrust_ff" type="float"/>
<field name="thrust_fb" type="float"/>
<field name="tilt_sp" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="tilt_ref" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="tilt_dot_ref" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="elevation_sp " type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="elevation_ref " type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="elevation_dot_ref" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
<field name="azimuth_sp" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
</message>
<!--109 is free -->
sw/airborne/beth/main_overo.c
+3 -2
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@@ -197,8 +197,9 @@ static void main_periodic(int my_sig_num) {
&controller.cmd_pitch,&controller.cmd_thrust,
&controller.cmd_pitch_ff,&controller.cmd_pitch_fb,
&controller.cmd_thrust_ff,&controller.cmd_thrust_fb,
&controller.tilt_ref,&controller.tilt_dot_ref,
&controller.elevation_ref,&controller.elevation_dot_ref);});
&controller.tilt_sp,&controller.tilt_ref,&controller.tilt_dot_ref,
&controller.elevation_sp,&controller.elevation_ref,&controller.elevation_dot_ref,
&controller.azimuth_sp);});
//file_logger_periodic();
sw/airborne/beth/overo_controller.c
+5 -4
View File
@@ -14,7 +14,7 @@ void control_init(void) {
controller.elevation_sp = RadOfDeg(10);
controller.azimuth_sp = 0.;
controller.omega_tilt_ref = RadOfDeg(200);
controller.omega_tilt_ref = RadOfDeg(600);
controller.omega_elevation_ref = RadOfDeg(120);
controller.omega_azimuth_ref = RadOfDeg(60);
controller.xi_ref = 1.;
@@ -34,7 +34,7 @@ void control_init(void) {
controller.one_over_J = 2.;
controller.mass = 5.;
controller.azim_gain = 1.;
controller.azim_gain = 0.05;
controller.omega_cl = RadOfDeg(600);
controller.xi_cl = 1.;
@@ -107,8 +107,9 @@ void control_run(void) {
controller.cmd_azimuth_fb = controller.one_over_J * (2 * controller.xi_cl * controller.omega_cl * err_azimuth_dot) +
controller.one_over_J * (controller.omega_cl * controller.omega_cl * err_azimuth);
controller.cmd_pitch = controller.cmd_pitch_ff + controller.cmd_pitch_fb +
controller.azim_gain * (controller.cmd_azimuth_fb + controller.cmd_azimuth_ff);
controller.cmd_pitch = controller.cmd_pitch_ff + controller.cmd_pitch_fb;// +
controller.tilt_sp =
controller.azim_gain * (-controller.cmd_azimuth_fb );//+ controller.cmd_azimuth_ff);
controller.cmd_thrust = controller.cmd_thrust_ff + controller.cmd_thrust_fb + thrust_constant;
controller.cmd_thrust = controller.cmd_thrust*(1/cos(estimator.elevation));