Task List

PID

• Replace Manual PID parameters with tuning blocks
• Change constants.mat to constants constants.m
• Tune PID to improve sim reslts

Plant

• Break up drag_wrench into rows for experiments
• Break up mass constants in model for easy tuning
• Check mass and volume
• Find volume center

IMU

• accepts six axis body frame acceleration as input (one, six-axis input signal)
• adds Gaussian white noise
• sends six axis body frame acceleration w/ noise as output (one, six-axis output signal)
• find noise of actual imu (does it match the model)

SPU

• accepts six axis body frame acceleration w/ noise as input (one, six-axis input signal)
• applies low pass digital filter to remove noise
• integrates and applies rotation matrix to find body frame and world frame acceleration, velocity, position
• outputs six axis acceleration, velocity, and position in world frame and body frame (six, six-axis output signals)

Pathfinding

• understand pathfinding
• Implement pathfinding

Opening the Model

1. Install MATLAB
2. Using MATLAB, install Simulink
3. After opening Simulink, select From Source Control and then Git
4. After setting up Git, the project panel should open. From here you can begin work!

Running and Maintaining the Model

Always use the MATLAB Project source control. MATLAB has developed this tool to prevent sharing of temporary files and other unwanted information. A project also has associated start-up files, so starting without first running the project will cause the Simulink model to fail.

Warning

If you add additional files to the directory that you want source controlled, you need to manually add them to the project by right-clicking on the file and going Add to Project

Notes About This Model

• All position vectors and matrixes are with respect to the center of mass of the robot.
  • ex: volume-center is with respect to the center of mass

Note

Message from Zenyn

Mathematically, its far more convenint to keep the convention that center-of-mass is origin. Practically, it might become annoying because the center of mass can change.

I think the ideal solution is to keep the center of mass orgin, but at some point add a function that would redefine the center of mass relative to a static point (say, thruster 0), and then recalculate all other points, keeping the center of mass at origin.

Resources

• Project Information Page
• Creating a System in Simulink (Part 1 of 3)
• Model-Based Design
• Best Practices