1 | | % main - hlavni skript |
2 | | clear all; |
3 | | % oznaceni: s ... system |
4 | | % k ... kalman (EKF) |
5 | | % l ... rizeni (LQR) |
6 | | |
7 | | % KONSTANTY |
8 | | T = 40000; %horizont |
9 | | dt = 0.000125; %casovy krok |
10 | | |
11 | | % Rs = 0.28; |
12 | | % Ls = 0.003465; |
13 | | % psipm = 0.1989; |
14 | | % B = 0; |
15 | | % kp = 1.5; |
16 | | % pp = 4.0; |
17 | | % J = 0.04; |
18 | | |
19 | | % Lq = 1.05*Ls; |
20 | | % Ld = 0.95*Ls; |
21 | | |
22 | | a = 0.9898; |
23 | | b = 0.0072; |
24 | | c = 0.0361; |
25 | | d = 1.0; |
26 | | e = 0.0149; |
27 | | |
28 | | Ls = 0.003465; |
29 | | psipm = 0.1989; |
30 | | |
31 | | % ref_profile = [0, -1, 3, 6, 9, 6, 3, 0, 0, 0, 0, 0, 0,-3, -6, -3];%/9*200; |
32 | | ref_profile = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; |
33 | | |
34 | | %kovariance EKF na stavu |
35 | | % Q_k = diag([0.001, 0.00001]); |
36 | | % R_k = diag([0.015, 0.015]); |
37 | | Q_k = diag([0.01, 0.0001]); |
38 | | R_k = diag([0.15, 0.15]); |
39 | | |
40 | | %hodnoty sumu v systemu |
41 | | nQ = diag([0.0013, 0.0013, 5.0e-6, 1.0e-10]); |
42 | | nR = diag([0.0006, 0.0006]); |
43 | | |
44 | | iter_l = 10;% pocet iteraci ve vypoctu rizeni |
45 | | |
46 | | % B_l = zeros(3,2); |
47 | | % B_l = zeros(2,2); |
48 | | % B_l(1,1) = c; |
49 | | % B_l(2,2) = c; |
50 | | |
51 | | Q_l = diag([1 0 0]); |
52 | | % % Q_l = diag([0 0 1 0 0]); |
53 | | r = 0.01; |
54 | | R_l = diag([r, r]); |
55 | | |
56 | | % PROMENNE |
57 | | x_s = zeros(4,T); %stav |
58 | | y_s = zeros(2,T); %mereni |
59 | | x_k = zeros(2,T); %odhad stavu |
60 | | P_k = zeros(2); %kovariance stavu |
61 | | u_l = zeros(2,T); %rizeni |
62 | | % S_l = zeros(3); %jadro ztraty |
63 | | S_l = zeros(2); |
64 | | |
65 | | % POCATECNI HODNOTY |
66 | | noise = 1; %prepinac sumu |
67 | | % noise = 0; |
68 | | |
69 | | theta0 = 1.5;%1.7; %pocatecni poloha |
70 | | P0 = eye(2); %odhad pocatecni kovariance stavu (apriorni) |
71 | | % ST = zeros(3); %koncova ztrata |
72 | | ST = ones(3); |
73 | | |
74 | | |
75 | | % INICIALIZACE |
76 | | x_s(4,1) = theta0; |
77 | | % x_s(3,1) = 5; |
78 | | P_k = P0; |
79 | | S_l = ST; |
80 | | |
81 | | ref_ome = zeros(1, T); |
82 | | for k = 1:T, |
83 | | index = floor(k*dt); |
84 | | if(index>0) |
85 | | lower = ref_profile(index); |
86 | | else |
87 | | lower = 0; |
88 | | end |
89 | | if(index<T*dt) |
90 | | upper = ref_profile(index+1); |
91 | | else |
92 | | upper = 0; |
93 | | end |
94 | | ref_ome(k) = lower + (upper-lower)*dt*(k-index/dt); |
| 1 | function [loss] = basic_main(T, ref_profile, theta0, simulator, graf, inddq) |
| 2 | % basic main - hlavni skript |
| 3 | % clear all; |
| 4 | % oznaceni: s ... system |
| 5 | % k ... kalman (EKF) |
| 6 | % l ... rizeni (LQR) |
| 7 | |
| 8 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
| 9 | %%%%%pouziti SIMULATORU |
| 10 | % simulator = 1; |
| 11 | % simulator = 0; |
| 12 | |
| 13 | if((simulator == 1)||(simulator == 10)) |
| 14 | sim_param = pmsm_sim; |
| 15 | % sim_param(9) = 0; %vypne dead-time |
| 16 | pmsm_sim(sim_param); |
96 | | % ref_ome = 0*ones(1, T); |
97 | | |
98 | | % Derivace pro prvni EKF |
99 | | ome = x_k(1,1); |
100 | | the = x_k(2,1); |
101 | | ia = y_s(1,1); |
102 | | ib = y_s(2,1); |
103 | | A = [d, -e*(ia*cos(the)+ib*sin(the)); dt, 1.0]; |
104 | | C = [b*sin(the), b*ome*cos(the); -b*cos(the), b*ome*sin(the)]; |
105 | | |
106 | | |
107 | | ri = 0.0001; |
108 | | ai = (1-a*a)/c/c; |
109 | | Si = (1 - ai*r + sqrt((ai*r-1)^2+4*r/c/c))/2; |
110 | | Li = a*c*Si/(c*c*Si+ri); |
111 | | |
112 | | A_l = [d,0,0;dt,1,dt;0,0,1]; |
113 | | % B_l = zeros(2); |
114 | | % % A_l = [a 0 0 0 0; 0 a 0 0 0; 0 0 d 0 (d-1); 0 0 dt 1 dt; 0 0 0 0 1]; |
115 | | % % B_l = zeros(5,2); |
116 | | % % B_l(1:2,1:2) = [c 0;0 c]; |
117 | | |
118 | | %PI vektorove |
119 | | % kon_pi = 3.0; |
120 | | % kon_ii = 0.00375; |
121 | | % kon_pu = 20.0; |
122 | | % kon_iu = 0.05; |
123 | | % sum_iq = 0; |
124 | | % sum_ud = 0; |
125 | | % sum_uq = 0; |
126 | | |
127 | | |
128 | | |
129 | | % HLAVNI SMYCKA |
130 | | for t = 1:T-1, |
131 | | % EKF |
132 | | Pp = A*P_k*A' + Q_k; |
133 | | S = C*Pp*C' + R_k; |
134 | | K = Pp*C'/S; |
135 | | P_k = Pp - K*C*Pp; |
136 | | |
137 | | xp = zeros(2,1); |
138 | | xp(1) = d*x_k(1,t) + e*(y_s(2,t)*cos(x_k(2,t)) - y_s(1,t)*sin(x_k(2,t))); |
139 | | xp(2) = x_k(2,t) + dt*x_k(1,t); |
140 | | yp = zeros(2,1); |
141 | | yp(1) = a*y_s(1,t) + b*x_k(1,t)*sin(x_k(2,t)) + c*u_l(1,t); |
142 | | yp(2) = a*y_s(2,t) - b*x_k(1,t)*cos(x_k(2,t)) + c*u_l(2,t); |
143 | | |
144 | | x_k(:,t+1) = xp + K*(y_s(:,t) - yp); |
145 | | |
146 | | %!!! |
147 | | % tmp = x_k(:,t+1); |
148 | | % x_k(:,t+1) = x_s(3:4,t); |
149 | | |
150 | | % Derivace |
151 | | ome = x_k(1,t+1); |
152 | | the = x_k(2,t+1); |
153 | | ia = y_s(1,t); |
154 | | ib = y_s(2,t); |
| 18 | %%%%% |
| 19 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
| 20 | |
| 21 | % KONSTANTY |
| 22 | % T = 120000; %horizont |
| 23 | dt = 0.000125; %casovy krok |
| 24 | |
| 25 | % Rs = 0.28; |
| 26 | % Ls = 0.003465; |
| 27 | % psipm = 0.1989; |
| 28 | % B = 0; |
| 29 | % kp = 1.5; |
| 30 | % pp = 4.0; |
| 31 | % J = 0.04; |
| 32 | |
| 33 | % Lq = 1.05*Ls; |
| 34 | % Ld = 0.95*Ls; |
| 35 | |
| 36 | a = 0.9898; |
| 37 | b = 0.0072; |
| 38 | c = 0.0361; |
| 39 | d = 1.0; |
| 40 | e = 0.0149; |
| 41 | |
| 42 | Rs = 0.28; |
| 43 | Ls = 0.003465; |
| 44 | psi = 0.1989; |
| 45 | B = 0; |
| 46 | kp = 1.5; |
| 47 | pp = 4.0; |
| 48 | J = 0.04; |
| 49 | Lq = 1.0*Ls; |
| 50 | Ld = 0.9*Ls; |
| 51 | kpp = kp*pp*pp; |
| 52 | kppj = kpp/J; |
| 53 | |
| 54 | % Ls = 0.003465; |
| 55 | % psipm = 0.1989; |
| 56 | |
| 57 | % ref_profile = [0, -1, 3, 6, 9, 6, 3, 0, 0, 0, 0, 0, 0,-3, -6, -3];%/9*200; |
| 58 | % ref_profile = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; |
| 59 | % ref_profile = [0, 1, -1, 1, -1, 1, -1, 1, -1, 1, -1, 1, -1, 1, -1, 0]; |
| 60 | % ref_profile = [1, 10, 50, 200, 200, 30, 0, 0, -1, -10, -50, -200, -200, -30, 0]; |
| 61 | % ref_profile = [20, 20, 20, 50, 50, 50, -10, -10, -10, 0, 0, 0, 20, 20, 20]; |
| 62 | |
| 63 | %kovariance EKF na stavu |
| 64 | % Q_k = diag([0.001, 0.00001]); |
| 65 | % R_k = diag([0.015, 0.015]); |
| 66 | Q_k = diag([0.01, 0.0001]); |
| 67 | R_k = diag([0.15, 0.15]); |
| 68 | |
| 69 | %hodnoty sumu v systemu |
| 70 | nQ = diag([0.0013, 0.0013, 5.0e-6, 1.0e-10]); |
| 71 | nR = diag([0.0006, 0.0006]); |
| 72 | |
| 73 | iter_l = 10;% pocet iteraci ve vypoctu rizeni |
| 74 | |
| 75 | % B_l = zeros(3,2); |
| 76 | % B_l = zeros(2,2); |
| 77 | % B_l(1,1) = c; |
| 78 | % B_l(2,2) = c; |
| 79 | |
| 80 | Q_l = diag([1 0 0]); |
| 81 | % % Q_l = diag([0 0 1 0 0]); |
| 82 | r = 0.01; |
| 83 | R_l = diag([r, r]); |
| 84 | |
| 85 | % PROMENNE |
| 86 | x_s = zeros(4,T); %stav |
| 87 | y_s = zeros(2,T); %mereni |
| 88 | x_k = zeros(2,T); %odhad stavu |
| 89 | % P_k = zeros(2); %kovariance stavu |
| 90 | u_l = zeros(2,T); %rizeni |
| 91 | % S_l = zeros(3); %jadro ztraty |
| 92 | % S_l = zeros(2); |
| 93 | |
| 94 | % POCATECNI HODNOTY |
| 95 | noise = 1; %prepinac sumu |
| 96 | % noise = 0; |
| 97 | |
| 98 | % theta0 = 0; %pocatecni poloha odhadu (nejde pro stav kvuli simulatoru) |
| 99 | P0 = eye(2); %odhad pocatecni kovariance stavu (apriorni) |
| 100 | % ST = zeros(3); %koncova ztrata |
| 101 | ST = ones(3); |
| 102 | |
| 103 | |
| 104 | % INICIALIZACE |
| 105 | x_k(2,1) = theta0; |
| 106 | % x_s(3,1) = 5; |
| 107 | P_k = P0; |
| 108 | S_l = ST; |
| 109 | |
| 110 | ref_ome = zeros(1, T); |
| 111 | for k = 1:T, |
| 112 | index = floor(k*dt); |
| 113 | if(index>0) |
| 114 | lower = ref_profile(index); |
| 115 | else |
| 116 | lower = 0; |
| 117 | end |
| 118 | if(index<T*dt) |
| 119 | upper = ref_profile(index+1); |
| 120 | else |
| 121 | upper = 0; |
| 122 | end |
| 123 | ref_ome(k) = lower + (upper-lower)*dt*(k-index/dt); |
| 124 | end |
| 125 | % ref_ome = 0*ones(1, T); |
| 126 | |
| 127 | % Derivace pro prvni EKF |
| 128 | ome = x_k(1,1); |
| 129 | the = x_k(2,1); |
| 130 | ia = y_s(1,1); |
| 131 | ib = y_s(2,1); |
| 134 | |
| 135 | |
| 136 | ri = 0.0001; |
| 137 | ai = (1-a*a)/c/c; |
| 138 | Si = (1 - ai*r + sqrt((ai*r-1)^2+4*r/c/c))/2; |
| 139 | Li = a*c*Si/(c*c*Si+ri); |
| 140 | |
| 141 | A_l = [d,0,0;dt,1,dt;0,0,1]; |
| 142 | % B_l = zeros(2); |
| 143 | % % A_l = [a 0 0 0 0; 0 a 0 0 0; 0 0 d 0 (d-1); 0 0 dt 1 dt; 0 0 0 0 1]; |
| 144 | % % B_l = zeros(5,2); |
| 145 | % % B_l(1:2,1:2) = [c 0;0 c]; |
| 146 | |
| 147 | %PI vektorove |
| 148 | % kon_pi = 3.0; |
| 149 | % kon_ii = 0.00375; |
| 150 | % kon_pu = 20.0; |
| 151 | % kon_iu = 0.05; |
| 152 | % sum_iq = 0; |
| 153 | % sum_ud = 0; |
| 154 | % sum_uq = 0; |
| 155 | |
| 156 | |
| 157 | |
| 158 | % HLAVNI SMYCKA |
| 159 | for t = 1:T-1, |
| 160 | % EKF |
| 161 | Pp = A*P_k*A' + Q_k; |
| 162 | S = C*Pp*C' + R_k; |
| 163 | K = Pp*C'/S; |
| 164 | P_k = Pp - K*C*Pp; |
| 165 | |
| 166 | xp = zeros(2,1); |
| 167 | xp(1) = d*x_k(1,t) + e*(y_s(2,t)*cos(x_k(2,t)) - y_s(1,t)*sin(x_k(2,t))); |
| 168 | xp(2) = x_k(2,t) + dt*x_k(1,t); |
| 169 | yp = zeros(2,1); |
| 170 | yp(1) = a*y_s(1,t) + b*x_k(1,t)*sin(x_k(2,t)) + c*u_l(1,t); |
| 171 | yp(2) = a*y_s(2,t) - b*x_k(1,t)*cos(x_k(2,t)) + c*u_l(2,t); |
| 172 | |
| 173 | x_k(:,t+1) = xp + K*(y_s(:,t) - yp); |
| 174 | |
| 175 | %!!! |
| 176 | % tmp = x_k(:,t+1); |
| 177 | % x_k(:,t+1) = x_s(3:4,t); |
| 178 | |
| 179 | % Derivace |
| 180 | ome = x_k(1,t+1); |
| 181 | the = x_k(2,t+1); |
| 182 | ia = y_s(1,t); |
| 183 | ib = y_s(2,t); |
| 184 | if(inddq == 0) |
| 185 | %stejne indukcnosti |
| 186 | A = [d, -e*(ia*cos(the)+ib*sin(the)); dt, 1.0]; |
| 187 | else |
| 188 | %ruzne indukcnosti |
| 189 | A = [d, -dt*kppj*(psi*(ia*cos(the) + ib*sin(the)) + (Ld - Lq)*(ia*cos(the) + ib*sin(the))^2 - (Ld - Lq)*(ib*cos(the) - ia*sin(the))^2); dt, 1.0]; |
| 190 | end |
| 191 | C = [b*sin(the), b*ome*cos(the); -b*cos(the), b*ome*sin(the)]; |
| 192 | |
| 193 | % id = ia*cos(the) + ib*sin(the); |
| 194 | % iq = ib*cos(the) - ia*sin(the); |
| 195 | |
| 196 | % LQ |
| 197 | % phi = zeros(2,1); |
| 198 | % phi(1) = d*x_k(1,t+1) + e*(y_s(2,t)*cos(x_k(2,t+1)) - y_s(1,t)*sin(x_k(2,t+1))); |
| 199 | % phi(2) = x_k(2,t+1) + dt*x_k(1,t+1); |
| 200 | % y = x_k(:,t+1); |
| 201 | % y(1) = y(1) - ref_ome(t); |
| 202 | % A_l = zeros(3); |
| 203 | % A_l(1:2,1:2) = A; |
| 204 | % A_l = A; |
| 205 | % A_l(1,2) = 0; |
| 206 | % A_l(1:2,3) = phi - A*y; |
| 207 | % A_l(3,3) = 1; |
| 208 | B_l = [-e*sin(the), e*cos(the); 0, 0; 0,0]; |
| 209 | y = [(ome-ref_ome(t)); the; ref_ome(t)]; |
| 210 | % % y = [ia; ib; (ome-ref_ome(t)); the; ref_ome(t)]; |
| 211 | % % A_l(1, 3) = b*sin(the); |
| 212 | % % A_l(2, 3) = -b*cos(the); |
| 213 | % % A_l(1, 5) = b*sin(the); |
| 214 | % % A_l(2, 5) = -b*cos(the); |
| 215 | % % A_l(3, 1) = -e*sin(the); |
| 216 | % % A_l(3, 2) = e*cos(the); |
| 217 | for i = 1:iter_l |
| 218 | S_l = A_l'*(S_l - S_l*B_l/(B_l'*S_l*B_l + R_l)*B_l'*S_l)*A_l + Q_l; |
| 219 | end |
| 220 | L = (B_l'*S_l*B_l + R_l)\B_l'*S_l*A_l; |
| 221 | % yref = -L*y;%referencni proudy |
| 222 | % u_l(:,t+1) = b/c*ome*[-sin(the);cos(the)] + yref/c - Li*y_s(:,t); |
| 223 | |
| 224 | % sum_iq = sum_iq + ref_ome(t) - ome; |
| 225 | % ref_iq = kon_pi*(ref_ome(t) - ome) + kon_ii*sum_iq; |
| 226 | % sum_ud = sum_ud - id; |
| 227 | % u_d = kon_pu*(-id) + kon_iu*sum_ud; |
| 228 | % sum_uq = sum_uq + ref_iq - iq; |
| 229 | % u_q = kon_pu*(ref_iq - iq) + kon_iu*sum_uq; |
| 230 | % u_d = u_d - Ls*ome*ref_iq; |
| 231 | % u_q = u_q + psipm*ome; |
| 232 | % |
| 233 | % u_l(1, t+1) = u_d*cos(the) - u_q*sin(the); |
| 234 | % u_l(2, t+1) = u_q*cos(the) + u_d*sin(the); |
| 235 | % u_l(:,t+1) = b/c*ome*[-sin(the);cos(the)] + yref/c*[sin(the);-cos(the)] - Li*y_s(:,t); |
| 236 | |
| 237 | % u_l(:,t+1) = yref/c - Li*y_s(:,t); |
| 238 | % u_l(:,t+1) = -L*[y;1]; |
| 239 | u_l(:,t+1) = -L*y + b/c*ome*[-sin(the);cos(the)] - Li*y_s(:,t); |
| 240 | if u_l(1,t+1) > 100 |
| 241 | u_l(1,t+1) = 100; |
| 242 | elseif u_l(1,t+1) < -100 |
| 243 | u_l(1,t+1) = -100; |
| 244 | end |
| 245 | if u_l(2,t+1) > 100 |
| 246 | u_l(2,t+1) = 100; |
| 247 | elseif u_l(2,t+1) < -100 |
| 248 | u_l(2,t+1) = -100; |
| 249 | end |
| 250 | % u_l(:,t+1) = 0; |
| 251 | % Vyvoj systemu |
| 252 | [x_s(:,t+1), y_s(:,t+1)] = evolSys(x_s(:,t), u_l(:,t+1), nQ, nR, noise, simulator); |
| 253 | |
| 254 | |
| 255 | %!!! |
| 256 | % x_k(:,t+1) = tmp; |
| 257 | end |
| 258 | |
| 259 | if(graf == 1) |
| 260 | %vykresleni |
| 261 | cas = (1:T)*dt; |
| 262 | figure; |
| 263 | subplot(2,1,1); |
| 264 | plot(cas,x_k(1,:),cas,x_s(3,:),cas,ref_ome); |
| 265 | title('Prubeh otacek v case'); |
| 266 | xlabel('cas [s]'); |
| 267 | ylabel('otacky [rad/s]'); |
| 268 | legend('odhad','skutecne','pozadovane'); |
| 269 | subplot(2,1,2); |
| 270 | plot(cas,atan2(sin(x_k(2,:)),cos(x_k(2,:))),cas,atan2(sin(x_s(4,:)),cos(x_s(4,:)))); |
| 271 | title('Prubeh polohy v case'); |
| 272 | xlabel('cas [s]'); |
| 273 | ylabel('poloha [rad]'); |
| 274 | |
| 275 | figure; |
| 276 | plot(cas,x_s(3,:)-ref_ome); |
| 277 | title('Prubeh chyby (skutecne - pozadovane otacky v case)'); |
| 278 | xlabel('cas [s]'); |
| 279 | ylabel('chyba [rad/s]'); |
| 280 | end |
158 | | % id = ia*cos(the) + ib*sin(the); |
159 | | % iq = ib*cos(the) - ia*sin(the); |
160 | | |
161 | | % LQ |
162 | | % phi = zeros(2,1); |
163 | | % phi(1) = d*x_k(1,t+1) + e*(y_s(2,t)*cos(x_k(2,t+1)) - y_s(1,t)*sin(x_k(2,t+1))); |
164 | | % phi(2) = x_k(2,t+1) + dt*x_k(1,t+1); |
165 | | % y = x_k(:,t+1); |
166 | | % y(1) = y(1) - ref_ome(t); |
167 | | % A_l = zeros(3); |
168 | | % A_l(1:2,1:2) = A; |
169 | | % A_l = A; |
170 | | % A_l(1,2) = 0; |
171 | | % A_l(1:2,3) = phi - A*y; |
172 | | % A_l(3,3) = 1; |
173 | | B_l = [-e*sin(the), e*cos(the); 0, 0; 0,0]; |
174 | | y = [(ome-ref_ome(t)); the; ref_ome(t)]; |
175 | | % % y = [ia; ib; (ome-ref_ome(t)); the; ref_ome(t)]; |
176 | | % % A_l(1, 3) = b*sin(the); |
177 | | % % A_l(2, 3) = -b*cos(the); |
178 | | % % A_l(1, 5) = b*sin(the); |
179 | | % % A_l(2, 5) = -b*cos(the); |
180 | | % % A_l(3, 1) = -e*sin(the); |
181 | | % % A_l(3, 2) = e*cos(the); |
182 | | for i = 1:iter_l |
183 | | S_l = A_l'*(S_l - S_l*B_l/(B_l'*S_l*B_l + R_l)*B_l'*S_l)*A_l + Q_l; |
184 | | end |
185 | | L = (B_l'*S_l*B_l + R_l)\B_l'*S_l*A_l; |
186 | | % yref = -L*y;%referencni proudy |
187 | | % u_l(:,t+1) = b/c*ome*[-sin(the);cos(the)] + yref/c - Li*y_s(:,t); |
188 | | |
189 | | % sum_iq = sum_iq + ref_ome(t) - ome; |
190 | | % ref_iq = kon_pi*(ref_ome(t) - ome) + kon_ii*sum_iq; |
191 | | % sum_ud = sum_ud - id; |
192 | | % u_d = kon_pu*(-id) + kon_iu*sum_ud; |
193 | | % sum_uq = sum_uq + ref_iq - iq; |
194 | | % u_q = kon_pu*(ref_iq - iq) + kon_iu*sum_uq; |
195 | | % u_d = u_d - Ls*ome*ref_iq; |
196 | | % u_q = u_q + psipm*ome; |
197 | | % |
198 | | % u_l(1, t+1) = u_d*cos(the) - u_q*sin(the); |
199 | | % u_l(2, t+1) = u_q*cos(the) + u_d*sin(the); |
200 | | % u_l(:,t+1) = b/c*ome*[-sin(the);cos(the)] + yref/c*[sin(the);-cos(the)] - Li*y_s(:,t); |
201 | | |
202 | | % u_l(:,t+1) = yref/c - Li*y_s(:,t); |
203 | | % u_l(:,t+1) = -L*[y;1]; |
204 | | u_l(:,t+1) = -L*y + b/c*ome*[-sin(the);cos(the)] - Li*y_s(:,t); |
205 | | if u_l(1,t+1) > 100 |
206 | | u_l(1,t+1) = 100; |
207 | | elseif u_l(1,t+1) < -100 |
208 | | u_l(1,t+1) = -100; |
209 | | end |
210 | | if u_l(2,t+1) > 100 |
211 | | u_l(2,t+1) = 100; |
212 | | elseif u_l(2,t+1) < -100 |
213 | | u_l(2,t+1) = -100; |
214 | | end |
215 | | % u_l(:,t+1) = 0; |
216 | | % Vyvoj systemu |
217 | | [x_s(:,t+1), y_s(:,t+1)] = evolSys(x_s(:,t), u_l(:,t+1), nQ, nR, noise); |
218 | | |
219 | | %!!! |
220 | | % x_k(:,t+1) = tmp; |
| 282 | loss = sum((x_s(3,:)-ref_ome).^2); |