jens/HendiControlFirmware
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

- cleaned up

Browse Source 
git-svn-id: http://moon:8086/svn/projects/HendiControl@126 fda53097-d464-4ada-af97-ba876c37ca34
This commit is contained in:
jens
2019-03-22 07:45:53 +00:00
parent e413be41e3
commit bac3d602eb
1 changed files with 1 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files
matlab/brew_eval.m
+1 -38
View File
@@ -46,7 +46,6 @@ theta_ist = params.theta_amb;
theta_last = params.theta_amb; theta_last = params.theta_amb;
thetas = varargin{nargin} thetas = varargin{nargin}
heatRate = 0; heatRate = 0;
heatRate_f = 0;
heatRateMeasureInterval = 1.0; % seconds heatRateMeasureInterval = 1.0; % seconds
heatRateMeasureCount = 0; % seconds heatRateMeasureCount = 0; % seconds
n = 0; n = 0;
@@ -54,15 +53,6 @@ nSteps = params.P_max / params.P_q;
N = 2*fix(length(thetas)*params.T/params.dt); N = 2*fix(length(thetas)*params.T/params.dt);
maz = 7;
lp_N = 5;
[lp_b, lp_a] = butter (lp_N-1, 0.25);
lp_z = zeros(1, length(lp_b)-1);
lp_rate_N = 17;
[lp_rate_b, lp_rate_a] = butter (lp_rate_N-1, 0.125);
lp_rate_z = zeros(1, length(lp_rate_b)-1);
P_cont = 0; P_cont = 0;
y_rate = 0; y_rate = 0;
y = 0; y = 0;
@@ -178,10 +168,9 @@ for k=1:length(thetas)
theta_last = theta_ist; theta_last = theta_ist;
end end
heatRateMeasureCount = heatRateMeasureCount - params.dt; heatRateMeasureCount = heatRateMeasureCount - params.dt;
[heatRate_f, lp_rate_z] = filter(lp_rate_b, lp_rate_a, heatRate, lp_rate_z);
n = n + 1; n = n + 1;
theta_ist = theta_ist; theta_ist = theta_ist;
heatRate_(n) = heatRate_f; heatRate_(n) = heatRate;
theta_(n) = theta_ist; theta_(n) = theta_ist;
err_(n) = err0_hold; err_(n) = err0_hold;
p_(n) = P; p_(n) = P;
@@ -235,38 +224,12 @@ s.e = s.e + s.x;
theta = s.e/(M*C); theta = s.e/(M*C);
endfunction endfunction
function [y, y_clamped, s] = pid(si, kp, ki, kd, kleak, x)
s = si;
if ~isstruct(si)
s = struct('p', 0, 'i', 0, 'd', 0, 'x', 0, 'y_min', -0.0, 'y_max', 1.0, 'diff_aw', 0.0);
end
s.d = kd*(x - s.x);
s.i = kleak*s.i + ki*x + s.diff_aw;
s.p = kp*x;
s.x = x;
y = s.p + s.i + s.d;
y_clamped = max(s.y_min, min(s.y_max, y));
if (y < s.y_min)
s.diff_aw = abs(y - s.y_min);
end
if (y > s.y_max)
s.diff_aw = -abs(y - s.y_max);
end
endfunction
function [y, z] = isStable(zi, v, maxErr) function [y, z] = isStable(zi, v, maxErr)
z = zi; z = zi;
if ~isstruct(zi) if ~isstruct(zi)
z = struct('v', 0, 'cnt', 3, 'cnt_reload', 3); z = struct('v', 0, 'cnt', 3, 'cnt_reload', 3);
end end
if z.cnt > 0 if z.cnt > 0
z.cnt = z.cnt - 1; z.cnt = z.cnt - 1;
endif endif