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Permalink Reply by Zigmond Floyed on January 19, 2011 at 11:53pm

For some reason I cannot get the attached code file. See error message below:


Access Denied
You don't have permission to access "http://api.ning.com/files/hLt2Ui-AgwWXpiwJ9lekR8qGp1KnVBDSYG-t7zyYW91mi*6H*QlF2oGdYR93E30P7wfrgGPzfsSenHMcBn2vRA__/xaxis.rar" on this server.

Reference #18.504503f.1295506375.4dc791cc

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Permalink Reply by omer simsek on January 20, 2011 at 7:18am

I am sorry about that but i could not get the file as well so i decided to post codes directly. thanks zigmond...

 

clc;

clear all;

close all;

 

global   kp_x ki_x kd_x Intgr_x G perror_x  distance_x ;

time=input('time=');

distance_x=input('distance_x=');

 

kp_x=input('kp_x=');

kd_x=input('kd_x=');

ki_x=input('ki_x=');

Intgr_x=0;

syms A1 A2 A3 A4 U1 U2 U3 U4

baslangic=[0 0 0 0 0 0 0 0 0 0 0 0];

 

for i=1:((time/0.2)+1)

 

    z(i,:)=baslangic;

    [t,x]=ode23('position_qdrt2_x',[0,0.2],[baslangic(1),baslangic(2),baslangic(3),baslangic(4),baslangic(5),baslangic(6),baslangic(7),baslangic(8),baslangic(9),baslangic(10),baslangic(11),baslangic(12)]);

    a=size(x);

    baslangic=[x(a(1),1),x(a(1),2),x(a(1),3),x(a(1),4),x(a(1),5),x(a(1),6),x(a(1),7),x(a(1),8),x(a(1),9),x(a(1),10),x(a(1),11),x(a(1),12)];

 

end

 

function xdot=position_qdrt2_x(t,x)
    global  G perror_x kp_x kd_x ki_x Intgr_x distance_x ;
   
   
    perror_x=(distance_x-x(1))/0.2;       %x(1)-displacement on x-axis%
   
    Intgr_x=Intgr_x+0.2*perror_x;
   
    G=(kp_x*perror_x)+(kd_x*(x(2)))+ki_x*Intgr_x;  %x(2)-derivative of the x(1)%

%rotor speeds A1 A2 A3 A4%
    A1=212.61-0.001*G;
    A2=212.61;
    A3=212.61+0.001*G;
    A4=212.61;
   
    b=54.2*10^-6;
    d=1.1*10^-6;
   
    U1=b*(A1^2+A2^2+A3^2+A4^2);
    U2=b*(A4^2-A2^2);
    U3=b*(A3^2-A1^2);
    U4=d*(A2^2+A4^2-A1^2-A3^2);
    B=A2+A4-A1-A3;
   
m=1;
g=9.8;
l=0.48;
Ix=8.1*10^-3;
Iy=8.1*10^-3;
Iz=14.2*10^-3;
Jr=71.88*10^-6;
y1=((cos(x(7))*sin(x(9))*cos(x(11))+sin(x(7))*sin(x(11)))*(U1/m));
y2=((cos(x(7))*sin(x(9))*sin(x(11))-sin(x(7))*cos(x(11)))*(U1/m));
y3=-g+(cos(x(7))*cos(x(9)))*(U1/m);
y4=x(12)*x(10)*((Iy-Iz)/Ix)-(Jr/Ix)*x(10)*B+((l*U2)/Ix);
y5=x(12)*x(8)*((Iz-Ix)/Iy)+(Jr/Iy)*x(8)*B+((l*U3)/Iy);
y6=x(10)*x(8)*((Ix-Iy)/Iz)+((l*U4)/Iz);
 
xdot=[x(2);y1;x(4);y2;x(6);y3;x(8);y4;x(10);y5;x(12);y6];
 

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Permalink Reply by chera on April 18, 2011 at 5:52am

hello,

 my name is cherazed,and i am a student in  the university of technologie option automatic, and i need 

matlab code of a quadrotor with pid controller please help me.

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