Working with Chris, we decided that it is probably better to use a simple filter module as a controller before we make the model more complicated. I will use the plant model that I have already made (see attachment 1 of this). then attach a single control filter module to that: as seen in attachment 1. because I only want to work with one degree of freedom (position) I will average the four outputs which should give me the position. Then by feeding the same signal to all four inputs I should isolate one degree of freedom while still using the premade plant model.
The model I made that is shown in attachment 2 is the model I made from the plan. And it complies! yay! I think there is a better way to do the average than the way I showed. And since the model is feeding back on itself I think I need to add a delay which Rana noted a while ago. I think it was a UnitDelay (see page 41 of RTS Developer’s Guide). So I will add that if we run into problems but I think there is enough going on that it might already be delayed.
Since our model (x1sup_isolated.mdl) has compiled we can open the medm screens for it. I provide a procedure below which is based on Jon's post.
[First start the cymac and have the model running]
$ cd docker-cymac
$ eval $(./env_cymac)
$ medm -x /opt/rtcds/tst/x1/medm/x1sup_isolated/X1SUP_ISOLATED_GDS_TP.adl
To see a list of all medm screens use:
$ cd docker-cymac
$ ./login_cymac
# cd /opt/rtcds/tst/x1/medm/x1sup_isolated
# ls
Some of the other useful ones are:
| adl screen |
Description |
X1SUP_ISOLATED_Control_Module.adl |
This is the control filter module shown in attachment 2 at the top in the center. This module will represent the control system. |
X1SUP_ISOLATED_C1_SUS_SINGLE_PLANT_Plant_POS_Mod.adl |
See attachment 4. This screen shows the POS plant filter module that will be filled by the filter representing the transfer function of a damped harmonic oscillator: 
THIS TF HAS BEEN UPDATED SEE NEXT POST
|
The first one of these screens that are of interest to us (shown in attachment 3) is the X1SUP_ISOLATED_GDS_TP.adl screen, which is the CDS runtime diagnostics screen. This screen tells us "the success/fail state of the model and all its dependencies." I am still figuring out these screens and the best guide is T1100625.
The next step is taking some data and seeing if I can see the position damp over time. To do this I need to:
- Edit the plant filter for the model and add the correct filter.
- Figure out a filter for the control system and add it to that. (I can leave it as is to see what the plant is doing)
- Take some position data to show that the plant is a harmonic oscillator and is damping away.
|