LZY\79495
128 lines
3.7 KiB
Matlab
128 lines
3.7 KiB
Matlab
function csas_levelflight_shoots(H,V,m)
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proj = slproject.getCurrentProject;
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wd = cd;
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cd([proj.RootFolder '/work']);
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[success,opts1, op_point] = get_trim_Lon(H,V,m);
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if success
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X0 = [0 0 opts1.h];
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Z0 = [0 0 -opts1.h];
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alpha = opts1.alpha;
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v = opts1.v;
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tht0 = opts1.tht;
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V0 = [v*cos(alpha) 0 v*sin(alpha)];
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Att0 = [0 tht0 0];
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thr0 = opts1.throttle;
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else
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v = V;
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X0 = [0 0 H];
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Z0 = [0 0 -H];
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Att0 = [0 0 0];
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V0 = [V 0 0];
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alpha = 0;
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end
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mdlName = 'ET39_sim_csas';
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load('ET39_sim_csas_rtp.mat','rtp');
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tf = 30;
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in = struct;
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in.time = [0 15 15.5 19 19.5 25 30]';
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slen = length(in.time);
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in.signals(1).values = single([0 0 30/57.3 30/57.3 0 0 0]'); % phi_c
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in.signals(2).values = zeros(slen,1,'single'); % hdot_c
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in.signals(3).values = ones(slen,1,'single').*v; % as_c
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n = 50 ;
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out = cell(n,1);
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rtp1 = rsimsetrtpparam(rtp, 'X0', X0, ...
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'V0', V0, ...
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'Att0', Att0, ...
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'mass0', m ...
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);
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out{1} = oneShoot(mdlName, rtp1, in, tf, 0);
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for i=2:n
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mass = m + (rand()-0.5)*2*2;
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cg_x = (rand()-0.5)*2*0.01;
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v2= v + (rand()-0.5)*2*2;
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V0 = [v2*cos(alpha) 0 v2*sin(alpha)];
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InertiaMoments_bias(1,1) = 6.432*(0.2*(rand()-0.5)*1);
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InertiaMoments_bias(2,2) = 6.411*(0.2*(rand()-0.5)*1);
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InertiaMoments_bias(3,3) = 12.112*(0.2*(rand()-0.5)*1);
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rtp1 = rsimsetrtpparam(rtp, 'X0', X0, ...
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'V0', V0, ...
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'Att0', Att0, ...
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'mass0', mass, ...
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'CG_bias_m', [cg_x 0 0],...
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'InertiaMoments_bias_kg_m2',InertiaMoments_bias ,...
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'CD0UncertVal', 0.053*(rand()-0.5)*2*0.3 ,...
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'CLaUncertGain', (rand()-0.5)*2*0.2 ,...
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'CL0UncertVal', 0.62*(rand()-0.5)*2*0.3 ,...
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'CLdelUncertGain', 1.0+(rand()-0.5)*2*0.2 , ...
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'CLderUncertGain', 1.0+(rand()-0.5)*2*0.2 ,...
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'CLqUncertGain', 1.0+(rand()-0.5)*2*0.5 ,...
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'CY0UncertVal', 0.01*(rand()-0.5)*2*0.3 ,...
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'CYbUncertGain', (rand()-0.5)*2*0.2 ,...
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'CYdelUncertGain', 1.0+(rand()-0.5)*2*0.2 ,...
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'CYderUncertGain', 1.0+(rand()-0.5)*2*0.2 ,...
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'CYpUncertGain', 1.0+(rand()-0.5)*2*0.5 ,...
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'CYrUncertGain', 1.0+(rand()-0.5)*2*0.2 ,...
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'Cl0UncertVal', 0.00015*(rand()-0.5)*2*0.3 ,...
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'ClbUncertGain', (rand()-0.5)*2*0.2 ,...
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'CldarUncertGain', 1.0+(rand()-0.5)*2*0.2 ,...
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'CldalUncertGain', 1.0+(rand()-0.5)*2*0.2 ,...
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'ClpUncertGain', 1.0+(rand()-0.5)*2*0.5 ,...
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'ClrUncertGain', 1.0+(rand()-0.5)*2*0.5 ,...
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'Cm0UncertVal', 0.06*(rand()-0.5)*2*0.3 ,...
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'CmaUncertPct', (rand()-0.5)*2*0.2 ,...
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'CmdelUncertGain', 1.0+(rand()-0.5)*2*0.2 ,...
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'CmderUncertGain', 1.0+(rand()-0.5)*2*0.2 ,...
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'CmqUncertGain', 1.0+(rand()-0.5)*2*0.5 ,...
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'Cn0UncertVal', 0.0005*(rand()-0.5)*2*0.3 ,...
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'CnbUncertGain', (rand()-0.5)*2*0.2 ,...
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'CnderUncertGain', 1.0+(rand()-0.5)*2*0.2 ,...
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'CndelUncertGain', 1.0+(rand()-0.5)*2*0.2 ,...
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'CnpUncertGain', 1.0+(rand()-0.5)*2*0.5 ,...
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'CnrUncertGain', 1.0+(rand()-0.5)*2*0.5, ...
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'deadband_dal', 0.2/57.3,...
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'deadband_dar', 0.2/57.3,...
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'deadband_del', 0.2/57.3,...
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'deadband_der', 0.2/57.3);
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%w = getCurrentWorker;
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%pid = w.ProcessId;
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pid = 1;
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out{i} = oneShoot(mdlName, rtp1, in, tf, pid);
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end
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csas_shoots_plot(out);
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% h{1,1} = '滚转通道';
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% h{1,2} = figure(1);
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% h{2,1} = '偏航通道';
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% h{2,2} = figure(2);
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% h{3,1} = '俯仰通道';
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% h{3,2} = figure(3);
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% h{4,1} = '状态参数';
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% h{4,2} = figure(4);
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% cd([proj.RootFolder '/docs']);
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% labl = ['./H=',num2str(H), ' V=',num2str(V), ' Mass=',num2str(m)];
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% if exist(labl,'dir') == 0
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% mkdir(labl(3:end));
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% else
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% rmdir(labl(3:end),'s');
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% mkdir(labl(3:end));
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% end
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% eval(['cd ' ,'''',labl(3:end),'''']);
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% for idx=1:length(h)
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% savefig(h{idx,2},h{idx,1});
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% end
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cd(wd);
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end
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