geoffrey/cdf2018-principal
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MàJ simulation

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This commit is contained in:
Geoffrey Frogeye 2018-05-09 01:01:46 +02:00
parent dad788c3a4
commit 171e51e288
3 changed files with 21 additions and 19 deletions
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1
simu/.gitignore vendored
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@ -1,2 +1,3 @@
*.mat *.mat
*.slxc
slprj/* slprj/*

BIN
simu/modelisation.slx
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Binary file not shown.

39
simu/simu.m
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@ -3,13 +3,13 @@ SIMULATION = 0;
% Paramètres de lecture % Paramètres de lecture
DIRNAME = "/home/geoffrey/CdF/cdf2018-principal/log/"; DIRNAME = "/home/geoffrey/CdF/cdf2018-principal/log/";
FILENAME = "000232.csv"; FILENAME = "000303.csv";
PATH = DIRNAME + FILENAME; PATH = DIRNAME + FILENAME;
% Paramètres de simulation % Paramètres de simulation
global SIMULATION_TIME SIMULATION_DT; global SIMULATION_TIME SIMULATION_DT;
SIMULATION_TIME = 10; SIMULATION_TIME = 10;
SIMULATION_DT = 1e-6; SIMULATION_DT = 1e-15;
%BEGIN DIMENSIONS %BEGIN DIMENSIONS
@ -32,7 +32,7 @@ motorSpeedGain = (motorSpeedGainRPMpV / 60.0); % motor rev/s/V
motorNominalTension = 24.0; % V (from datasheet) motorNominalTension = 24.0; % V (from datasheet)
motorControllerAlimentation = 24.0; % V (from elec) motorControllerAlimentation = 24.0; % V (from elec)
motorControllerReference = 5; % V (from wiring) motorControllerReference = 5; % V (from wiring)
motorSaturationMin = 0.1; % V (from random) motorSaturationMin = 0; % V (from random)
motorSaturationMax = 12.0; % V (from testing) motorSaturationMax = 12.0; % V (from testing)
pwmMax = 3.3; % V (from FPGA datasheet) pwmMax = 3.3; % V (from FPGA datasheet)
coderResolution = 370.0; % cycles/motor rev coderResolution = 370.0; % cycles/motor rev
@ -45,15 +45,17 @@ coderFullResolution = (coderDataResolution / reducRatio); % cycles / wheel rev
avPerCycle = (wheelPerimeter / coderFullResolution); % mm avPerCycle = (wheelPerimeter / coderFullResolution); % mm
% Constantes asservissement % Constantes asservissement
global dDirEcartMin dDirEcartMax oDirEcartMin oDirEcartMax oGain; global dDirEcartMin dDirEcartMax oDirEcartMin oDirEcartMax oGain dConsThresold oConsThresold;
dDirEcartMin = 1.0; % mm dDirEcartMin = 1.0; % mm
dDirEcartMax = 5.0; % mm dDirEcartMax = 5.0; % mm
oDirEcartMin = (2.5 / 360.0 * 2.0 * pi); % rad oDirEcartMin = (6.0 / 360.0 * 2.0 * pi); % rad
oDirEcartMax = (7.5 / 360.0 * 2.0 * pi); % rad oDirEcartMax = (45.0 / 360.0 * 2.0 * pi); % rad
oGain = 1; dConsThresold = 1.0; % mm
P = 2; oConsThresold = (6.0 / 360.0 * 2.0 * pi); % rad
I = 0; oGain = 3.0;
D = 0; P = 3.0;
I = 0.0;
D = 0.0;
%END DIMENSIONS %END DIMENSIONS
@ -64,8 +66,8 @@ if SIMULATION == 1
yinit = 50; yinit = 50;
oinit = 4 * pi; oinit = 4 * pi;
d1t = 2; d1t = 2;
d1x = 300; d1x = -300;
d1y = -300; d1y = 0;
d1o = 2 * pi; d1o = 2 * pi;
dt = SIMULATION_DT; dt = SIMULATION_DT;
@ -76,7 +78,7 @@ if SIMULATION == 1
% Simulation % Simulation
disp("Lancement de la simulation"); disp("Lancement de la simulation");
s = sim("modelisation", "StopTime", string(SIMULATION_TIME));%, "MinStep", string(SIMULATION_DT)); s = sim("modelisation", "StopTime", string(SIMULATION_TIME), "MinStep", string(SIMULATION_DT));
fprintf("Simulation sampling rate: %f Hz\n", length(s.tout)/SIMULATION_TIME); fprintf("Simulation sampling rate: %f Hz\n", length(s.tout)/SIMULATION_TIME);
else else
disp("Ouverture des données"); disp("Ouverture des données");
@ -87,9 +89,6 @@ else
T.x = T.xConnu; T.x = T.xConnu;
T.y = T.yConnu; T.y = T.yConnu;
T.o = T.oConnu; T.o = T.oConnu;
%T.lVolt = T.lCodTot;
%T.rVolt = T.rCodTot;
disp("Enregistrement des données"); disp("Enregistrement des données");
s = containers.Map; s = containers.Map;
@ -119,8 +118,10 @@ updateToTime(SIMULATION_DT);
p = subplot(2, 2, 2); p = subplot(2, 2, 2);
hold on; hold on;
timeGraph(["lVolt", "rVolt", "lErr", "rErr"]); timeGraph(["lVolt", "rVolt", "lErr", "rErr"]);
addLimitline(p, motorNominalTension); addLimitline(p, -motorSaturationMin);
addLimitline(p, -motorNominalTension); addLimitline(p, -motorSaturationMax);
addLimitline(p, motorSaturationMin);
addLimitline(p, motorSaturationMax);
addLimitline(p, 0); addLimitline(p, 0);
title("Roues"); title("Roues");
xlabel("Temps (s)"); xlabel("Temps (s)");
@ -285,7 +286,7 @@ function initGraph()
global robotPath; global robotPath;
robotPath = plot(0, 0, 'b'); robotPath = plot(0, 0, 'b');
global dirQuiver; global dirQuiver;
dirQuiver = quiver(0, 0, 0, 0, 'Color', 'Blue', 'MaxHeadSize', height/4); dirQuiver = quiver(0, 0, 0, 0, 'Color', 'Red', 'MaxHeadSize', height/4);
global consQuiver; global consQuiver;
consQuiver = quiver(0, 0, 0, 0, 'Color', 'Green', 'MaxHeadSize', height/4); consQuiver = quiver(0, 0, 0, 0, 'Color', 'Green', 'MaxHeadSize', height/4);