Engee documentation

3D Observer Form [A(v),B(v),C(v),F(v),H(v)]

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A linear switched state-space controller with three variable parameters (scheduling variable) with a state observer.

2d observer form av bv cv fv hv

Description

Block 3D Observer Form [A(v),B(v),C(v),F(v),H(v)] implements a linear switched regulator in the state space with three variable parameters with a state observer defined by Eq:

where is the scheduling variable, depending on which , , , and are defined. This type of controller assumes that the matrices , , , and vary smoothly depending on , which is common in the aerospace industry.

The output of this block produces a control signal that can be applied to the drive unit.

Limitations

If the input parameters of the block are outside the valid range, they are truncated. The state space matrices are not interpolated outside the valid range.

Ports

Input

# y-y_dem — control error
vector

Details

The control error given as a vector that corresponds to the dimensions of the state-space matrices.

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. It is a parameter that defines 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. It is a parameter that determines how the system should adapt its parameters in response to changing conditions.

Data types

Float64.

Complex numbers support

No

# v3 — third planning variable
`vector'

Details

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

Data types

Float64.

Complex numbers support

No

# u_meas — measured position of the actuator
``

Details

The measured position of the actuator, given as a vector. Helps to correct the state estimation by taking into account the actual behaviour of the actuator.

Data types

Float64.

Complex numbers support

No

Output

# u_dem — control signal
scalar | vector

Details

Control signal to the actuator.

Data types

Float64.

Complex numbers support

No

Parameters

Parameters

# A-matrix(v1,v2,v3): — matrix A of state space realisation

Details

A state space realisation matrix. In the case of three-dimensional planning, the matrix should have five dimensions, the last three of which correspond to the planning variables v1,v2 and v3. For example, if -matrix corresponding to the first element of v1,the first element of v2 and the first element of v3 is a unit matrix, then A[:,::,1,1,1,1] = [1.0 0 0.0;0.0 1.0].

Default value

A

Program usage name

Matrix1

Tunable

No

Evaluatable

Yes

# B-matrix(v1,v2,v3): — matrix B of state space realisation

Details

State space realisation matrix. In the case of three-dimensional planning, the matrix should have five dimensions, the last three of which correspond to the planning variables v1,v2 and v3. For example, if -matrix corresponding to the first element of v1,the first element of v2 and the first element of v3 is a unit matrix, then B[:,::,1,1,1,1] = [1.0 0 0.0;0.0 1.0].

Default value

B

Program usage name

Matrix2

Tunable

No

Evaluatable

Yes

# C-matrix(v1,v2,v3): — matrix C of state space realisation

Details

State space realisation matrix. In the case of three-dimensional planning, the matrix should have five dimensions, the last three of which correspond to the planning variables v1,v2 and v3. For example, if -matrix corresponding to the first element of v1,the first element of v2 and the first element of v3 is a unit matrix, then C[:,::,1,1,1,1] = [1.0 0 0.0;0.0 1.0].

Default value

C

Program usage name

Matrix3

Tunable

No

Evaluatable

Yes

# F-matrix(v1,v2,v3): — matrix F of state space realisation

Details

The feedback matrix of the state observer. In the case of three-dimensional planning, the matrix should have five dimensions, the last three of which correspond to the planning variables v1,v2 and v3. For example, if -matrix corresponding to the first element of v1,the first element of v2 and the first element of v3 is a unit matrix, then F[:,::,1,1,1,1] = [1.0 0 0.0;0.0 1.0].

Default value

F

Program usage name

Matrix4

Tunable

No

Evaluatable

Yes

# H-matrix(v1,v2,v3): — state space realisation matrix H

Details

State Observer Matrix. In the case of three-dimensional planning, the matrix should have five dimensions, the last three of which correspond to the planning variables v1,v2 and v3. For example, if -matrix corresponding to the first element of v1,the first element of v2 and the first element of v3 is a unit matrix, then H[:,::,1,1,1,1] = [1.0 0 0.0;0.0 1.0].

Default value

H

Program usage name

Matrix5

Tunable

No

Evaluatable

Yes

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

Details

The control points of the first planning variable defined as a vector. The length of v1 must match 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 (v2)

Details

Control points of the second planning variable defined as a vector. The length of v2 must match the size of the fourth dimension , , , and .

Default value

v2_vec

Program usage name

AoS_vec

Tunable

No

Evaluatable

Yes

# Third scheduling variable (v3) breakpoints: — control points of the third planning variable (v3)

Details

Control points of the third planning variable defined as a vector. The length of v3 must match the size of the fifth dimension , , , and .

Default value

v3_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

Additional options

C code generation: Yes