LIBRARY

ControlledRotorCraft

Quadrotor with three PID feedback loops (altitude, roll, pitch) and a 4-element thrust-mixing matrix. Wraps a RotorCraft and drives its thrusters from the controller outputs.

Usage

MultibodyComponents.ControlledRotorCraft(kalt=2.7, Tialt=3, Tdalt=0.5, kroll=0.2, Tiroll=100, Tdroll=1, kpitch=0.2, Tipitch=100, Tdpitch=1)

Parameters:

Name	Description	Units	Default value
end_joints		–	true
number_of_links		–	3
kalt	Altitude PID proportional gain	–	2.7
Tialt	Altitude PID integral time	s	3
Tdalt	Altitude PID derivative time	s	0.5
kroll	Roll PID proportional gain	–	0.2
Tiroll	Roll PID integral time	s	100
Tdroll	Roll PID derivative time	s	1
kpitch	Pitch PID proportional gain	–	0.2
Tipitch	Pitch PID integral time	s	100
Tdpitch	Pitch PID derivative time	s	1

Behavior

Source

"""
Quadrotor with three PID feedback loops (altitude, roll, pitch) and a
4-element thrust-mixing matrix. Wraps a `RotorCraft` and drives its
thrusters from the controller outputs.
"""
component ControlledRotorCraft
  world = MultibodyComponents.World(nominal_length = 0.1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 20, "y1": 20, "x2": 120, "y2": 120, "rot": 0}
      },
      "tags": []
    }
  }
  rotorcraft = RotorCraft(number_of_links = number_of_links, add_load = true, end_joints = end_joints) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 715, "y1": 161, "x2": 815, "y2": 261, "rot": 0}
      },
      "tags": []
    }
  }
  Calt = BlockComponents.Continuous.LimPID(k = kalt, Ti = Tialt, Td = Tdalt) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 315, "y1": 30, "x2": 415, "y2": 130, "rot": 0}
      },
      "tags": []
    }
  }
  Croll = BlockComponents.Continuous.LimPID(k = kroll, Ti = Tiroll, Td = Tdroll) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 315, "y1": 160, "x2": 415, "y2": 260, "rot": 0}
      },
      "tags": []
    }
  }
  Cpitch = BlockComponents.Continuous.LimPID(k = kpitch, Ti = Tipitch, Td = Tdpitch) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 315, "y1": 290, "x2": 415, "y2": 390, "rot": 0}
      },
      "tags": []
    }
  }
  mixer = ControlMixer() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 585, "y1": 161, "x2": 685, "y2": 261, "rot": 0}
      },
      "tags": []
    }
  }
  pid_mux = Mux3() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 455, "y1": 161, "x2": 555, "y2": 261, "rot": 0}
      },
      "tags": []
    }
  }
  pos_demux = Demux6() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 165, "y1": 93, "x2": 265, "y2": 193, "rot": 0}
      },
      "tags": []
    }
  }
  "Altitude PID proportional gain"
  parameter kalt::Real = 2.7
  "Altitude PID integral time"
  parameter Tialt::Time = 3
  "Altitude PID derivative time"
  parameter Tdalt::Time = 0.5
  "Roll PID proportional gain"
  parameter kroll::Real = 0.2
  "Roll PID integral time"
  parameter Tiroll::Time = 100
  "Roll PID derivative time"
  parameter Tdroll::Time = 1
  "Pitch PID proportional gain"
  parameter kpitch::Real = 0.2
  "Pitch PID integral time"
  parameter Tipitch::Time = 100
  "Pitch PID derivative time"
  parameter Tdpitch::Time = 1
  structural parameter end_joints::Boolean = true
  structural parameter number_of_links::Integer = 3
relations
  Calt.u_s = 0
  Calt.u_ff = 0
  Croll.u_s = 0
  Croll.u_ff = 0
  Cpitch.u_s = 0
  Cpitch.u_ff = 0
  connect(Calt.y, pid_mux.u1) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 435, "y": 81}, {"x": 435, "y": 184}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(Croll.y, pid_mux.u2) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(Cpitch.y, pid_mux.u3) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 435, "y": 341}, {"x": 435, "y": 238}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(pid_mux.y, mixer.u_in) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(mixer.u_out, rotorcraft.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(rotorcraft.y_pos, pos_demux.u_in) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 835, "y": 182},
            {"x": 835, "y": 440},
            {"x": 145, "y": 440},
            {"x": 145, "y": 143}
          ],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(pos_demux.y1, Calt.u_m) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(pos_demux.y2, Croll.u_m) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 295, "y": 119}, {"x": 295, "y": 233}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(pos_demux.y3, Cpitch.u_m) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 285, "y": 135}, {"x": 285, "y": 363}], "E": 2}],
      "renderStyle": "standard"
    }
  }
end

Flattened Source

"""
Quadrotor with three PID feedback loops (altitude, roll, pitch) and a
4-element thrust-mixing matrix. Wraps a `RotorCraft` and drives its
thrusters from the controller outputs.
"""
component ControlledRotorCraft
  world = MultibodyComponents.World(nominal_length = 0.1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 20, "y1": 20, "x2": 120, "y2": 120, "rot": 0}
      },
      "tags": []
    }
  }
  rotorcraft = RotorCraft(number_of_links = number_of_links, add_load = true, end_joints = end_joints) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 715, "y1": 161, "x2": 815, "y2": 261, "rot": 0}
      },
      "tags": []
    }
  }
  Calt = BlockComponents.Continuous.LimPID(k = kalt, Ti = Tialt, Td = Tdalt) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 315, "y1": 30, "x2": 415, "y2": 130, "rot": 0}
      },
      "tags": []
    }
  }
  Croll = BlockComponents.Continuous.LimPID(k = kroll, Ti = Tiroll, Td = Tdroll) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 315, "y1": 160, "x2": 415, "y2": 260, "rot": 0}
      },
      "tags": []
    }
  }
  Cpitch = BlockComponents.Continuous.LimPID(k = kpitch, Ti = Tipitch, Td = Tdpitch) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 315, "y1": 290, "x2": 415, "y2": 390, "rot": 0}
      },
      "tags": []
    }
  }
  mixer = ControlMixer() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 585, "y1": 161, "x2": 685, "y2": 261, "rot": 0}
      },
      "tags": []
    }
  }
  pid_mux = Mux3() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 455, "y1": 161, "x2": 555, "y2": 261, "rot": 0}
      },
      "tags": []
    }
  }
  pos_demux = Demux6() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 165, "y1": 93, "x2": 265, "y2": 193, "rot": 0}
      },
      "tags": []
    }
  }
  "Altitude PID proportional gain"
  parameter kalt::Real = 2.7
  "Altitude PID integral time"
  parameter Tialt::Time = 3
  "Altitude PID derivative time"
  parameter Tdalt::Time = 0.5
  "Roll PID proportional gain"
  parameter kroll::Real = 0.2
  "Roll PID integral time"
  parameter Tiroll::Time = 100
  "Roll PID derivative time"
  parameter Tdroll::Time = 1
  "Pitch PID proportional gain"
  parameter kpitch::Real = 0.2
  "Pitch PID integral time"
  parameter Tipitch::Time = 100
  "Pitch PID derivative time"
  parameter Tdpitch::Time = 1
  structural parameter end_joints::Boolean = true
  structural parameter number_of_links::Integer = 3
relations
  Calt.u_s = 0
  Calt.u_ff = 0
  Croll.u_s = 0
  Croll.u_ff = 0
  Cpitch.u_s = 0
  Cpitch.u_ff = 0
  connect(Calt.y, pid_mux.u1) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 435, "y": 81}, {"x": 435, "y": 184}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(Croll.y, pid_mux.u2) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(Cpitch.y, pid_mux.u3) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 435, "y": 341}, {"x": 435, "y": 238}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(pid_mux.y, mixer.u_in) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(mixer.u_out, rotorcraft.u) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(rotorcraft.y_pos, pos_demux.u_in) {
    "Dyad": {
      "edges": [
        {
          "S": 1,
          "M": [
            {"x": 835, "y": 182},
            {"x": 835, "y": 440},
            {"x": 145, "y": 440},
            {"x": 145, "y": 143}
          ],
          "E": 2
        }
      ],
      "renderStyle": "standard"
    }
  }
  connect(pos_demux.y1, Calt.u_m) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
  connect(pos_demux.y2, Croll.u_m) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 295, "y": 119}, {"x": 295, "y": 233}], "E": 2}],
      "renderStyle": "standard"
    }
  }
  connect(pos_demux.y3, Cpitch.u_m) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 285, "y": 135}, {"x": 285, "y": 363}], "E": 2}],
      "renderStyle": "standard"
    }
  }
metadata {}
end

Test Cases

No test cases defined.

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