Comments (11)
impulse response invariant discretization (IRID) method
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I found where to download the code https://www.mathworks.com/matlabcentral/fileexchange/21342-impulse-response-invariant-discretization-of-fractional-order-integrators-differentiators
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Using this piece of code, I am able to get the controller in z domain.
gam=0.9693;
Ts=.01;
dfod=irid_fod(gam,Ts,5);
cd=7.9733+0.2238*dfod;
s=tf('s');
p=0.99217/(0.2486*s+1)/s;
pd=c2d(p,Ts,'tustin');%plant
phiz=cd*pd/(1+cd*pd);
num=
[0.304491262548240,-0.937336830445012,1.08933728516398,-0.584146578665016,0.138183294173986,-0.0102548884710634];
den=
[0.0101201839324044,-0.0228427827690589,0.0162967440497079,-0.00320636053105791,-0.000423005899049262,8.95094110425754e-05];
Also, we can prove the closed-loop stability from the closed-loop transfer function poles.
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By using parameters from https://github.com/cnpcshangbo/FOPD-tunner/blob/master/controller%20analysis%20with%20Simulink/run_simulink.m
I made https://github.com/cnpcshangbo/simscapeFOPD/blob/f500473b7d768e2f9eb3667daec4031bb1b45925/QuadRotor/work/IRID/verify.slx
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So, the designed discrete controller is working well in numerical simulation. Next step, I am going to test it in Simscape Quadrotor.
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However, the performance is like this, when I put the controller in Simscape.
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Closed-loop poles:
[0.000102719520635084,-0.000865537908196629,0.00325800756133674,-0.00720132367524617,0.0103194622578090,-0.00996028888391507,0.00647724417673368,-0.00271339814764816,0.000622707859943362,-1.58357641906846e-05,-2.98124871203922e-05,6.18697332722469e-06,-4.03141517099768e-08,-9.84756134649096e-08,7.30629718690601e-09]
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What to do next?
A. Try to fix roll and pitch.
B. Read Professor Xue's book.
C. Read FO motion control and ask Yingluo.
D. Search literature.
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I corrected a bug in the code: 16f19cd
Then the performance in numerical simulation is getting better:
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Then I am going to retry the Simscape simulation.
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This is a comparison between IOPID and FOPD.
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Related Issues (20)
- How to convert Fractional DD to discrete? HOT 9
- How to deal with the saturation? HOT 5
- How to check the pole in discrete domain?
- We need to do discrete simulation before using Simscape. HOT 7
- Speed loop needs more integrator HOT 9
- Tune speed loop from balance point rather than ground HOT 9
- Why ZPos has a bump at 5 sec? Measuring error?
- How to understand this piece of blocks? HOT 1
- Why FOPD spread at last? HOT 1
- Lock some dimensions
- How to implement anti-windup in discrete transfer function block? HOT 3
- How to compare the robustness against loop gain variation? HOT 1
- Error after changing the sampling period HOT 3
- How to change the plant time constant?
- Fitting 10~11 sec or fit 10~20? It is a question.
- How to compare performance when plant time constant changes? HOT 1
- Try inserting a zero-phase-holder to simulate communication delay HOT 3
- visual servoing in Simscape?
- How to understand this flight control simulation platform? HOT 2
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