Yuri De Stefani / Mbed 2 deprecated VerticalController

Controlador vertical

Dependencies:   mbed

VerticalController.cpp

Committer:
yurindes
Date:
2018-10-24
Revision:
0:115db3c33311

File content as of revision 0:115db3c33311:

# include "mbed.h"
# include "VerticalController.h"
// Class constructor
VerticalController :: VerticalController ()
{
    f_t=0;
    z_e_last=0;
    
    float os=0.5f;
    float t_s=2.0f;
    float zeta=abs(log(os/100.0f))/sqrt(pow(log(os/100.0f)),2)+pow(3.1415f,2));
    float w_n=4.0f/(t_s*zeta);
    kp=pow(w_n, 2);
    kd=2.0f*zeta*w_n;
}
// Control thrust force (N) given vertical position (m) and velocity (m/s)
void VerticalController :: control ( float z_r , float z, float w)
{
    float erro_e=z_r-z;
    float erro_e_ponto=(erro_e-z_e_last)/0.002f;
    z_e_last=erro;
    float z_r_2pontos=kp*erro_e+kd*erro_e_ponto;
    f_t=z_r_2pontos*30e-3;
}