diff options
Diffstat (limited to 'Tools')
-rw-r--r-- | Tools/Matlab/motors.m | 58 |
1 files changed, 58 insertions, 0 deletions
diff --git a/Tools/Matlab/motors.m b/Tools/Matlab/motors.m new file mode 100644 index 000000000..6d688a307 --- /dev/null +++ b/Tools/Matlab/motors.m @@ -0,0 +1,58 @@ +clear all; +close all; + +% Measurement data +% 1045 propeller +% Robbe Roxxy Motor (1100 kV, data collected in 2010) +data = [ 45, 7.4;... + 38, 5.6;... + 33, 4.3;... + 26, 3.0;... + 18, 2.0;... + 10, 1.0 ]; + +% Normalize the data, as we're operating later +% anyways in normalized units +data(:,1) = data(:,1) ./ max(data(:,1)); +data(:,2) = data(:,2) ./ max(data(:,2)); + +% Fit a 2nd degree polygon to the data and +% print the x2, x1, x0 coefficients +p = polyfit(data(:,2), data(:,1),2) + +% Override the first coffefficient for testing +% purposes +pf = 0.62; + +% Generate plotting data +px1 = linspace(0, max(data(:,2))); +py1 = polyval(p, px1); + +pyt = zeros(size(data, 1), 1); +corr = zeros(size(data, 1), 1); + +% Actual code test +% the two lines below are the ones needed to be ported to C: +% pf: Power factor parameter. +% px1(i): The current normalized motor command (-1..1) +% corr(i): The required correction. The motor speed is: +% px1(i) +for i=1:size(px1, 2) + + % The actual output throttle + pyt(i) = -pf * (px1(i) * px1(i)) + (1 + pf) * px1(i); + + % Solve for input throttle + % y = -p * x^2 + (1+p) * x; + % +end + +plot(data(:,2), data(:,1), '*r'); +hold on; +plot(px1, py1, '*b'); +hold on; +plot([0 px1(end)], [0 py1(end)], '-k'); +hold on; +plot(px1, pyt, '-b'); +hold on; +plot(px1, corr, '-m'); |