execution.uav.control

Class ControlCoefficients

java.lang.Object

execution.uav.control.ControlCoefficients

public class ControlCoefficients
extends Object

Class for loading and maintaining control coefficients utilized by UavController objects All control constants should be greater than or equal to zero

Field Summary

Fields

Modifier and Type	Field and Description
protected double	kP Coefficient applied to roll rate
protected double	kPhi Coefficient applied to the angle of bank (phi) error
protected double	kPhiIntegral Coefficient applied to the integral of angle of bank error
protected double	kPsiDot Coefficient applied to turn rate when determining the desired angle of bank
protected double	kPsiDotDot Coefficient applied to turn angular acceleration when detering the desired angle of bank
protected double	kPsiDotIntegral Coefficient applied to the integral of turn rate error when determining the desired angle of bank
protected double	kQ Coefficient applied to the pitch rate
protected double	kTheta Coefficient applied to pitch (theta) error
protected double	kThetaIntegral Coefficient applied to the integral of pitch (theta) error
protected double	kThrustClimb coefficient applied to the commanded rate of climb to determine baseline thrust
protected double	kThrustCruise baseline thrust for straight and level flight at cruise true air speed
protected double	kV Coefficient applied to body coordinate lateral velocity
protected double	kVDot Coefficient applied to the derivative of body coordinate lateral velocity
protected double	kVIntegral Coefficient applied to the integral of body coordinate lateral velocity
protected double	kZDot Coefficient applied to rate of climb error
protected double	kZDotDot Coefficient applied to derivative of rate of climb error
protected double	kZDotIntegral Coefficient applied to integral of altitude error

Constructor Summary

Constructors

Constructor and Description
ControlCoefficients(UavExecution execution) Creates a new instance of ControlCoefficients

Method Summary

Methods

Modifier and Type	Method and Description
void	loadCoefficients(ExecutionDynamicsConfiguration config) Sets control coefficient values based on xml configuration file

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

kTheta

protected double kTheta

Coefficient applied to pitch (theta) error

kQ

protected double kQ

Coefficient applied to the pitch rate

kThetaIntegral

protected double kThetaIntegral

Coefficient applied to the integral of pitch (theta) error

kV

protected double kV

Coefficient applied to body coordinate lateral velocity

kVDot

protected double kVDot

Coefficient applied to the derivative of body coordinate lateral velocity

kVIntegral

protected double kVIntegral

Coefficient applied to the integral of body coordinate lateral velocity

kThrustCruise

protected double kThrustCruise

baseline thrust for straight and level flight at cruise true air speed

kThrustClimb

protected double kThrustClimb

coefficient applied to the commanded rate of climb to determine baseline thrust

kZDot

protected double kZDot

Coefficient applied to rate of climb error

kZDotDot

protected double kZDotDot

Coefficient applied to derivative of rate of climb error

kZDotIntegral

protected double kZDotIntegral

Coefficient applied to integral of altitude error

kPhi

protected double kPhi

Coefficient applied to the angle of bank (phi) error

kP

protected double kP

Coefficient applied to roll rate

kPhiIntegral

protected double kPhiIntegral

Coefficient applied to the integral of angle of bank error

kPsiDot

protected double kPsiDot

Coefficient applied to turn rate when determining the desired angle of bank

kPsiDotDot

protected double kPsiDotDot

Coefficient applied to turn angular acceleration when detering the desired angle of bank

kPsiDotIntegral

protected double kPsiDotIntegral

Coefficient applied to the integral of turn rate error when determining the desired angle of bank

Constructor Detail

ControlCoefficients

public ControlCoefficients(UavExecution execution)

Creates a new instance of ControlCoefficients

Parameters:

execution - UavExecution reference to the main class of the auv to which coefficients apply

Method Detail

loadCoefficients

public void loadCoefficients(ExecutionDynamicsConfiguration config)

Sets control coefficient values based on xml configuration file

Parameters:

config - JAXB object containing all configuration info