Engee documentation

2D Controller [A(v),B(v),C(v),D(v)]

Linear switchable controller in the state space with two changeable parameters (planning variable).

blockType: SubSystem

Path in the library:

/Aerospace/GNC/Control/2D Controller [A(v),B(v),C(v),D(v)]

Description

Block 2D Controller [A(v),B(v),C(v),D(v)] implements a linear switchable controller in the state space with two changeable parameters, defined by the equation:

Where — this is a planning variable, depending on which are determined , , and . This type of regulator assumes that the matrices , , and smoothly change depending on , which is common in the aerospace industry.

At the output of this unit, a control signal is obtained, which can be applied to the drive unit.

Restrictions

If the block’s input parameters fall outside the acceptable range, they are cut off. The state space matrices are not interpolated beyond the acceptable range.

Ports

Input

# y — measured values of the aircraft
vector

Details

A vector of measured aircraft quantities, meaning any measured quantities related to the state of the aircraft that are used to adjust control signals.

Data types

Float64.

Complex numbers support

No

# v1 — first planning variable
`vector

Details

The first planning variable, given as a vector that corresponds to the dimensions of the state-space matrices. This variable determines how the system should adapt its parameters in response to changing conditions.

Data types

Float64.

Complex numbers support

No

# v2 — second planning variable
`vector'

Details

A second planning variable given as a vector that corresponds to the dimensions of the state-space matrices. This variable determines how the system should adapt its parameters in response to changing conditions.

Data types

Float64.

Complex numbers support

No

Output

# u — control signal
scalar | vector

Details

Control signal.

Data types

Float64.

Complex numbers support

No

Parameters

Parameters

# A-matrix(v1,v2): — matrix A of state space realisation

Details

A state-space realisation matrix. In the case of bivariate planning, the A-matrix must have four dimensions, the last two of which correspond to the planning variables v1 and v2. For example, if -matrix corresponding to the first element of v1 and the first element of v2 is a unit matrix, then A[:,::,1,1] = [1.0 0 0.0; 0.0 1.0].

Default value

A

Program usage name

Matrix1

Tunable

No

Evaluatable

Yes

# B-matrix(v1,v2): — matrix B of state space realisation

Details

State space realisation matrix. In the case of bivariate planning, -matrix must have four dimensions, the last two of which correspond to the planning variables v1 and v2. For example, if the -matrix corresponding to the first element of v1 and the first element of v2 is a unit matrix, then B[:,::,1,1] = [1.0 0 0.0; 0.0 1.0].

Default value

B

Program usage name

Matrix2

Tunable

No

Evaluatable

Yes

# C-matrix(v1,v2): — matrix C of state space realisation

Details

State space realisation matrix. In the case of bivariate planning, -matrix must have four dimensions, the last two of which correspond to the planning variables v1 and v2. For example, if the -matrix corresponding to the first element of v1 and the first element of v2 is a unit matrix, then C[:,::,1,1] = [1.0 0 0.0; 0.0 1.0].

Default value

C

Program usage name

Matrix3

Tunable

No

Evaluatable

Yes

# D-matrix(v1,v2): — matrix D of state space realisation

Details

State space realisation matrix. In the case of bivariate planning, -matrix must have four dimensions, the last two of which correspond to the planning variables v1 and v2. For example, if the -matrix corresponding to the first element of v1 and the first element of v2 is a unit matrix, then D[:,::,1,1] = [1.0 0 0.0; 0.0 1.0]

Default value

D

Program usage name

Matrix4

Tunable

No

Evaluatable

Yes

# First scheduling variable (v1) breakpoints: — control points of the first planning variable

Details

Control points of the first planning variable given as a vector. The length v1 must coincide with the size of the third dimension , , and .

Default value

v1_vec

Program usage name

AoA_vec

Tunable

No

Evaluatable

Yes

# Second scheduling variable (v2) breakpoints: — control points of the second planning variable

Details

The control points of the second planning variable given as a vector. The length v2 must coincide with the size of the fourth dimension , , and .

Default value

v2_vec

Program usage name

Mach_vec

Tunable

No

Evaluatable

Yes

# Initial state, x_initial: — initial states

Details

The initial states for the controller, such as the initial values of the state vector, x, are specified as a vector. The length of the vector must correspond to the size of the first dimension .

Default value

[0.0;0.0]

Program usage name

x_initial

Tunable

No

Evaluatable

Yes