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382 lines (269 loc) · 8.5 KB
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%%%%%%%%% this is simulation 3 %%%%%%%%%
path = 'figs' ;
if ~exist(path, 'dir')
mkdir(pwd, path);
end
sub_path = 'figs/sim7/with_EKF' ;
if ~exist(sub_path, 'dir')
mkdir(pwd, sub_path);
end
% sim7 parameters
observer = 2; % withoutobserver = 1, EKF = 2, NonlinearObserver = 3
use_env_forces = 1; % 0 for no environmental forces , 1 for enalbling the environmental forces
enable_waves = 1; % 0 for not using waves, 1 for enabling the waves
allocation_method = 1; % 0 for quadratic programming method , and 1 for pseudo inverse method
ref_model = 0; % 0 for 0 desired setpoint , 1 for 4 corners
use_ref = 1 ; % 0 for desired setpoint without reference model , 1 use reference model ()
use_thrust_allocation = 1 ; % 0 without thrust allocation , 1 with thrust allocation
use_fixed_con = 0 ; % 1 for fixed desired DP force, 0 for using PID controller
% unnecessary parameters
desired_DP_force = [0 0 0];
% simulation time
sim_time = 2000 ;
% environmental params
% wind parameters
mean_wind = 10 ;
mean_wind_direction = 180 ; % from north
N =100;
z = 3;
n = 0.468;
U_10 = 12 ;
params_wind = [N z n U_10];
% current parameters
mean_current_speed = 0.2 ;
mean_current_angle = 270 ; % from east
% waves parameters
H_s = 8 ;
T_p = 13 ;
dir = 225 * pi/180 ; % fromm north east
% run the simulation
sim('part1.slx') ;
% plotting
% data extraction
eta = logsout.getElement('eta') ;
desired_eta = logsout.getElement('set_point') ;
time= eta.Values.Time ;
% current pose
north = eta.Values.Data(: , 1) ;
east = eta.Values.Data(: , 2) ;
psi = eta.Values.Data(: , 3) ;
% desired pose
des_north = desired_eta.Values.Data(: , 1) ;
des_east = desired_eta.Values.Data(: , 2) ;
des_psi = desired_eta.Values.Data(: , 3) ;
% plotting
figure
plot(time, north)
hold on
plot(time, east)
hold on
plot(time, des_north)
hold on
plot(time, des_east)
xlabel('Time (sec)')
ylabel('Amplitude (m)')
title('Full DP system (Translational motion)');
legend('North', 'East')
saveas(gcf, fullfile(sub_path , 'Translational_ekfsim7.png'));
figure
plot(time, psi)
hold on
plot(time, des_psi )
xlabel('Time (sec)')
ylabel('Amplitude (rad) ')
title('Full DP system (Rotational motion)');
saveas(gcf, fullfile(sub_path , 'Rotational_ekfsim7.png'));
figure
plot(east, north) ;
hold on
plot(des_east, des_north),
hold on
indices = 1:1000:length(east) ;
selected_x = east(indices);
selected_y = north(indices);
selected_u = cos(-psi + (pi/2)) ;
selected_u = selected_u(indices);
selected_v = sin(-psi + (pi/2)) ;
selected_v = selected_v(indices);
quiver(selected_x, selected_y, selected_u, selected_v, 0.5, 'Color', 'r', 'LineWidth', 1.5);
title('XY plot')
xlabel('Amplitude in East direction (m)')
ylabel('Amplitude in North direction (m)')
legend('actual trajectory', 'desired trajectory')
saveas(gcf, fullfile(sub_path , 'xy_ekfsim7.png'));
%%%%%%%%%%%%%%%%%%%%%%%%%%%%% without observer
sub_path = 'figs/sim7/without_obs' ;
if ~exist(sub_path, 'dir')
mkdir(pwd, sub_path);
end
% sim2 parameters
observer = 1; % withoutobserver = 1, EKF = 2, NonlinearObserver = 3
use_env_forces = 1; % 0 for no environmental forces , 1 for enalbling the environmental forces
enable_waves = 1; % 0 for not using waves, 1 for enabling the waves
allocation_method = 1; % 0 for quadratic programming method , and 1 for pseudo inverse method
ref_model = 0; % 0 for 0 desired setpoint , 1 for 4 corners
use_ref = 1 ; % 0 for desired setpoint without reference model , 1 use reference model ()
use_thrust_allocation = 1 ; % 0 without thrust allocation , 1 with thrust allocation
use_fixed_con = 0 ; % 1 for fixed desired DP force, 0 for using PID controller
% unnecessary parameters
desired_DP_force = [0 0 0];
sim_time = 2000 ;
% environmental params
% wind parameters
mean_wind = 10 ;
mean_wind_direction = 180 ; % from north
N =100;
z = 3;
n = 0.468;
U_10 = 12 ;
params_wind = [N z n U_10];
% current parameters
mean_current_speed = 0.2 ;
mean_current_angle = 270 ; % from east
% waves parameters
H_s = 8 ;
T_p = 13 ;
dir = 225 * pi/180 ; % fromm north east
% run the simulation
sim('part1.slx') ;
% plotting
% data extraction
eta = logsout.getElement('eta') ;
desired_eta = logsout.getElement('set_point') ;
time= eta.Values.Time ;
% current pose
north = eta.Values.Data(: , 1) ;
east = eta.Values.Data(: , 2) ;
psi = eta.Values.Data(: , 3) ;
% desired pose
des_north = desired_eta.Values.Data(: , 1) ;
des_east = desired_eta.Values.Data(: , 2) ;
des_psi = desired_eta.Values.Data(: , 3) ;
% plotting
figure
plot(time, north)
hold on
plot(time, east)
hold on
plot(time, des_north)
hold on
plot(time, des_east)
xlabel('Time (sec)')
ylabel('Amplitude (m)')
title('Full DP system (Translational motion)');
legend('North', 'East')
saveas(gcf, fullfile(sub_path , 'Translational_noobs_sim7.png'));
figure
plot(time, psi)
hold on
plot(time, des_psi )
xlabel('Time (sec)')
ylabel('Amplitude (rad) ')
title('Full DP system (Rotational motion)');
saveas(gcf, fullfile(sub_path , 'Rotational_noobs_sim7.png'));
figure
plot(east, north) ;
hold on
plot(des_east, des_north),
hold on
indices = 1:1000:length(east) ;
selected_x = east(indices);
selected_y = north(indices);
selected_u = cos(-psi + (pi/2)) ;
selected_u = selected_u(indices);
selected_v = sin(-psi + (pi/2)) ;
selected_v = selected_v(indices);
quiver(selected_x, selected_y, selected_u, selected_v, 0.5, 'Color', 'r', 'LineWidth', 1.5);
title('XY plot')
xlabel('Amplitude in East direction (m)')
ylabel('Amplitude in North direction (m)')
legend('actual trajectory', 'desired trajectory')
saveas(gcf, fullfile(sub_path , 'xy_noobs_sim7.png'));
%%%%%%%%%%%%%%%%%%%%%%%%%%%%% with NPO
sub_path = 'figs/sim7/with_NPO' ;
if ~exist(sub_path, 'dir')
mkdir(pwd, sub_path);
end
% sim2 parameters
observer = 3; % withoutobserver = 1, EKF = 2, NonlinearObserver = 3
use_env_forces = 1; % 0 for no environmental forces , 1 for enalbling the environmental forces
enable_waves = 1; % 0 for not using waves, 1 for enabling the waves
allocation_method = 1; % 0 for quadratic programming method , and 1 for pseudo inverse method
ref_model = 0; % 0 for 0 desired setpoint , 1 for 4 corners
use_ref = 1 ; % 0 for desired setpoint without reference model , 1 use reference model ()
use_thrust_allocation = 1 ; % 0 without thrust allocation , 1 with thrust allocation
use_fixed_con = 0 ; % 1 for fixed desired DP force, 0 for using PID controller
% unnecessary parameters
desired_DP_force = [0 0 0];
sim_time = 2000 ;
% environmental params
% wind parameters
mean_wind = 10 ;
mean_wind_direction = 180 ; % from north
N =100;
z = 3;
n = 0.468;
U_10 = 12 ;
params_wind = [N z n U_10];
% current parameters
mean_current_speed = 0.2 ;
mean_current_angle = 270 ; % from east
% waves parameters
H_s = 8 ;
T_p = 13 ;
dir = 225 * pi/180 ; % fromm north east
% run the simulation
sim('part1.slx') ;
% plotting
% data extraction
eta = logsout.getElement('eta') ;
desired_eta = logsout.getElement('set_point') ;
time= eta.Values.Time ;
% current pose
north = eta.Values.Data(: , 1) ;
east = eta.Values.Data(: , 2) ;
psi = eta.Values.Data(: , 3) ;
% desired pose
des_north = desired_eta.Values.Data(: , 1) ;
des_east = desired_eta.Values.Data(: , 2) ;
des_psi = desired_eta.Values.Data(: , 3) ;
% plotting
figure
plot(time, north)
hold on
plot(time, east)
hold on
plot(time, des_north)
hold on
plot(time, des_east)
xlabel('Time (sec)')
ylabel('Amplitude (m)')
title('Full DP system (Translational motion)');
legend('North', 'East')
saveas(gcf, fullfile(sub_path , 'Translational_npo_sim7.png'));
figure
plot(time, psi)
hold on
plot(time, des_psi )
xlabel('Time (sec)')
ylabel('Amplitude (rad) ')
title('Full DP system (Rotational motion)');
saveas(gcf, fullfile(sub_path , 'Rotational_NPO_sim7.png'));
figure
plot(east, north) ;
hold on
plot(des_east, des_north),
hold on
indices = 1:1000:length(east) ;
selected_x = east(indices);
selected_y = north(indices);
selected_u = cos(-psi + (pi/2)) ;
selected_u = selected_u(indices);
selected_v = sin(-psi + (pi/2)) ;
selected_v = selected_v(indices);
quiver(selected_x, selected_y, selected_u, selected_v, 0.5, 'Color', 'r', 'LineWidth', 1.5);
title('XY plot')
xlabel('Amplitude in East direction (m)')
ylabel('Amplitude in North direction (m)')
legend('actual trajectory', 'desired trajectory')
saveas(gcf, fullfile(sub_path , 'xy_npo_sim7.png'));