mtecs

2026-10-28 09:33:33 +08:00 · 2014-03-23 09:15:04 +01:00
parent 50d3fe2a1a
commit 9c751fe9c5
6 changed files with 766 additions and 33 deletions
@@ -0,0 +1,152 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: 	@author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+
+/**
+ * @file mTecs.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include "mTecs.h"
+
+#include <lib/geo/geo.h>
+#include <systemlib/err.h>
+
+namespace fwPosctrl {
+
+mTecs::mTecs() :
+	SuperBlock(NULL, "MT"),
+	/* Parameters */
+	_mTecsEnabled(this, "ENABLED"),
+	/* control blocks */
+	_controlTotalEnergy(this, "THR"),
+	_controlEnergyDistribution(this, "PIT", true),
+	_controlAltitude(this, "FPA", true),
+	_controlAirSpeed(this, "ACC"),
+	_airspeedDerivative(this, "AD"),
+	_throttleSp(0.0f),
+	_pitchSp(0.0f),
+	timestampLastIteration(hrt_absolute_time()),
+	_firstIterationAfterReset(true)
+{
+}
+
+mTecs::~mTecs()
+{
+}
+
+void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp)
+{
+	warnx("***");
+	float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitude);
+	warnx("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)flightPathAngleSp);
+	updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp);
+}
+
+void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp) {
+
+	float accelerationLongitudinalSp = _controlAirSpeed.update(airspeedSp - airspeed);
+	warnx("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f, accelerationLongitudinalSp%.4f", (double)airspeedSp, (double)airspeed, (double)accelerationLongitudinalSp);
+	updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeed, accelerationLongitudinalSp);
+}
+
+void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp)
+{
+	/* time measurement */
+	float deltaTSeconds = 0.0f;
+	if (!_firstIterationAfterReset) {
+		hrt_abstime timestampNow = hrt_absolute_time();
+		deltaTSeconds = (float)(timestampNow - timestampLastIteration) * 1e-6f;
+		timestampLastIteration = timestampNow;
+	}
+	setDt(deltaTSeconds);
+
+	/* update parameters first */
+	updateParams();
+
+	/* calculate values (energies) */
+	float flightPathAngleError = flightPathAngleSp - flightPathAngle;
+	float airspeedDerivative = 0.0f;
+	if(_airspeedDerivative.getDt() > 0.0f) {
+		airspeedDerivative = _airspeedDerivative.update(airspeed);
+	}
+	float airspeedDerivativeNorm = airspeedDerivative / CONSTANTS_ONE_G;
+	float airspeedSpDerivative = accelerationLongitudinalSp;
+	float airspeedSpDerivativeNorm = airspeedSpDerivative / CONSTANTS_ONE_G;
+	float airspeedSpDerivativeNormError = airspeedSpDerivativeNorm - airspeedDerivativeNorm;
+
+	float totalEnergyRate = flightPathAngle + airspeedDerivativeNorm;
+	float totalEnergyRateError = flightPathAngleError + airspeedSpDerivativeNormError;
+	float totalEnergyRateSp = flightPathAngleSp + airspeedSpDerivativeNorm;
+	float totalEnergyRateError2 = totalEnergyRateSp - totalEnergyRate;
+
+	float energyDistributionRate = flightPathAngle - airspeedDerivativeNorm;
+	float energyDistributionRateError = flightPathAngleError - airspeedSpDerivativeNormError;
+	float energyDistributionRateSp = flightPathAngleSp - airspeedSpDerivativeNorm;
+	float energyDistributionRateError2 = energyDistributionRateSp - energyDistributionRate;
+
+	warnx("totalEnergyRateSp %.2f, totalEnergyRate %.2f, totalEnergyRateError %.2f totalEnergyRateError2 %.2f airspeedDerivativeNorm %.4f",
+			(double)totalEnergyRateSp, (double)totalEnergyRate, (double)totalEnergyRateError, (double)totalEnergyRateError2, (double)airspeedDerivativeNorm);
+	warnx("energyDistributionRateSp %.2f, energyDistributionRate %.2f, energyDistributionRateError %.2f energyDistributionRateError2 %.2f",
+			(double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2);
+
+	/** update control blocks **/
+	/* update total energy rate control block */
+	_throttleSp = _controlTotalEnergy.update(totalEnergyRateSp, totalEnergyRateError);
+
+	/* update energy distribution rate control block */
+	_pitchSp = _controlEnergyDistribution.update(energyDistributionRateSp, energyDistributionRateError);
+
+	warnx("_throttleSp %.1f, _pitchSp %.1f, flightPathAngleSp %.1f, flightPathAngle %.1f accelerationLongitudinalSp %.1f, airspeedDerivative %.1f",
+			(double)_throttleSp, (double)_pitchSp,
+			(double)flightPathAngleSp, (double)flightPathAngle,
+			(double)accelerationLongitudinalSp, (double)airspeedDerivative);
+
+
+	/* clean up */
+	_firstIterationAfterReset = false;
+
+}
+
+void mTecs::resetIntegrators()
+{
+	_controlTotalEnergy.getIntegral().setY(0.0f);
+	_controlEnergyDistribution.getIntegral().setY(0.0f);
+	timestampLastIteration = hrt_absolute_time();
+	_firstIterationAfterReset = true;
+}
+
+} /* namespace fwPosctrl */
+