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Draw.m
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Draw.m
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%% Plot results
% define colors
blue=[0 0 255]/255;
red=[220 20 60]/255;
orange=[255 165 0]/255;
green=[0 205 102]/255;
% start generating pictures
switch settings.model
case 'InvertedPendulum'
figure(1);
subplot(321)
plot(time,state_sim(:,1));
title('p');
subplot(322)
plot(time,state_sim(:,2)*180/pi);
title('\theta');
subplot(323)
plot(time,state_sim(:,3));
title('v');
subplot(324)
plot(time,state_sim(:,4)*180/pi);
title('\omega');
subplot(3,2,[5 6]);
title('F');
stairs(time,controls_MPC(:,1));
case 'ChainofMasses_Lin'
figure(1);
subplot(311);
plot(time,controls_MPC(:,1));
ylabel('$u_x$','Interpreter','latex');
subplot(312);
plot(time,controls_MPC(:,2));
ylabel('$u_y$','Interpreter','latex');
subplot(313);
plot(time,controls_MPC(:,3));
ylabel('$u_z$','Interpreter','latex');
n = data.n;
figure(2);
plot3([0,state_sim(1,1:n)], [0,state_sim(1,n+1:2*n)], [0,state_sim(1,2*n+1:3*n)],'Color',red,'LineStyle','--');
hold on;
grid on;
plot3([0,state_sim(end,1:n)], [0,state_sim(end,n+1:2*n)],[0,state_sim(end,2*n+1:3*n)],'Color',blue,'LineStyle','-');
scatter3([0,state_sim(1,1:n)], [0,state_sim(1,n+1:2*n)], [0,state_sim(1,2*n+1:3*n)],10,'MarkerFaceColor','none');
scatter3([0,state_sim(end,1:n)], [0,state_sim(end,n+1:2*n)],[0,state_sim(end,2*n+1:3*n)],10,'MarkerFaceColor',red);
xlabel('X[m]');
ylabel('Y[m]');
zlabel('Z[m]');
xlim([-0.5 8]);
ylim([-1 1]);
zlim([-6 0.5]);
case 'ChainofMasses_NLin'
figure(1);
subplot(311);
plot(time,controls_MPC(:,1));
ylabel('$u_x$','Interpreter','latex');
subplot(312);
plot(time,controls_MPC(:,2));
ylabel('$u_y$','Interpreter','latex');
subplot(313);
plot(time,controls_MPC(:,3));
ylabel('$u_z$','Interpreter','latex');
n = data.n;
figure(2);
plot3([0,state_sim(1,1:n)], [0,state_sim(1,n+1:2*n)], [0,state_sim(1,2*n+1:3*n)],'Color',red,'LineStyle','--');
hold on;
grid on;
plot3([0,state_sim(end,1:n)], [0,state_sim(end,n+1:2*n)],[0,state_sim(end,2*n+1:3*n)],'Color',blue,'LineStyle','-');
scatter3([0,state_sim(1,1:n)], [0,state_sim(1,n+1:2*n)], [0,state_sim(1,2*n+1:3*n)],10,'MarkerFaceColor','none');
scatter3([0,state_sim(end,1:n)], [0,state_sim(end,n+1:2*n)],[0,state_sim(end,2*n+1:3*n)],10,'MarkerFaceColor',red);
xlabel('X[m]');
ylabel('Y[m]');
zlabel('Z[m]');
xlim([-1.2 1.2]);
ylim([-1.2 1.2]);
case 'TethUAV'
phi_ref = input.od(1,1);
phi_ref = repmat(phi_ref, size(time));
theta_ref = input.od(2,1);
theta_ref = repmat(theta_ref, size(time));
axes_ref = [];
axes_lim = [];
figure();
subplot(221)
hold on;
grid on;
plot(time(1:end),rad2deg(state_sim(:,1)),'Color',red);
plot(time(1:end),rad2deg(phi_ref),'k--');
title('\phi');
legend('\phi','ref');
ax = gca; % current axes
axes_ref = [axes_ref; ax];
axes_lim = [axes_lim; ax.YLim];
subplot(222)
hold on;
grid on;
plot(time(1:end),rad2deg(state_sim(:,2)),'Color',red);
title('\phi_{dot}');
legend('\phi_{dot}')
ax = gca; % current axes
axes_ref = [axes_ref; ax];
axes_lim = [axes_lim; ax.YLim];
subplot(223)
hold on;
grid on;
plot(time(1:end),rad2deg(state_sim(:,3)),'Color',red);
plot(time(1:end),rad2deg(theta_ref),'k--');
title('\theta');
legend('\theta','ref');
ax = gca; % current axes
axes_ref = [axes_ref; ax];
axes_lim = [axes_lim; ax.YLim];
subplot(224)
hold on;
grid on;
plot(time(1:end),rad2deg(state_sim(:,4)),'Color',red);
title('\theta_{dot}');
legend('\theta_{dot}');%,'ref');
ax = gca; % current axes
axes_ref = [axes_ref; ax];
axes_lim = [axes_lim; ax.YLim];
% set axes limits, the same for all the plots:
maxY = max(axes_lim(:,2));
minY = min(axes_lim(:,1));
for i = 1 : length(axes_lim)
cur_ax = axes_ref(i);
cur_ax.YLim = [minY maxY];
end
figure()
subplot(211)
hold on;
grid on;
plot(time(1:end),state_sim(:,5),'Color',red);
title('f1');
subplot(212)
hold on;
grid on;
plot(time(1:end),state_sim(:,6),'Color',red);
title('f2');
figure();
subplot(211)
hold on;
grid on;
plot(time(1:end),controls_MPC(:,1),'Color',red);
title('df1');
subplot(212)
hold on;
grid on;
plot(time(1:end),controls_MPC(:,2),'Color',red);
title('df2');
figure();
grid on;
plot(time(1:end-1),constraints(:,1),'Color',red);
title('fL');
% plot time statistics
figure();
hold on;
grid on;
plot(time(2:end-1)', CPT(2:end, 1)); % cpt, tshooting, tcond, tqp
title('Time statistics');
xlabel('[s]')
ylabel('[ms]')
% plot nonlinear cost fcn terms
figure();
hold on;
grid on;
plot(time', rad2deg(state_sim(:,1)+state_sim(:,3)));
plot(time', rad2deg(pi/2)*ones(size(time)));
title('Cost fcn: Avoid singularity');
legend('\phi + \theta', '\pi/2');
xlabel('[s]')
ylabel('[deg]')
figure();
hold on;
grid on;
plot(time', rad2deg(state_sim(:,1)), 'k');
plot(time, rad2deg(phi_ref), 'k--');
plot(time', rad2deg(state_sim(:,3)), 'r');
plot(time, rad2deg(theta_ref), 'r--');
title('Cost fcn: Attitude behavior close to the ground');
legend('\phi', '\phi_{ref}', '\theta', '\theta_{ref}');
xlabel('[s]')
ylabel('[deg]')
figure();
hold on;
grid on;
plot(time', rad2deg(state_sim(:,2)), 'r');
plot(time', rad2deg(state_sim(:,4)), 'b');
plot(time', rad2deg(state_sim(:,1)), 'k');
plot(time, rad2deg(phi_ref), 'k--');
title('Cost fcn: \phi and \theta velocities close to the ground');
leg = legend('$\dot{\phi}$', '$\dot{\theta}$', '$\phi$', '$\phi_{ref}$');
set(leg,'Interpreter','latex');
xlabel('[s]')
ylabel('[deg]')
case 'DiM'
samples=size(y_sim,1);
figure;
title('MCA Tracking of perceived signals');
subplot(3,2,1);
plot(y_sim(:,1),'r');
hold on;
plot(data.REF(1:samples,1),'k');
title('Longitudinal: $\hat{a}_x$','Interpreter','latex');
subplot(3,2,2);
plot(y_sim(:,2),'r');
hold on;
plot(data.REF(1:samples,2),'k');
title('Lateral: $\hat{a}_y$','Interpreter','latex');
subplot(3,2,3);
plot(y_sim(:,3),'r');
hold on;
plot(data.REF(1:samples,3),'k');
title('Vertical: $\hat{a}_z$','Interpreter','latex');
subplot(3,2,4);
plot(y_sim(:,4),'r');
hold on;
plot(data.REF(1:samples,4),'k');
title('Roll: $\hat{\omega}_{\psi}$','Interpreter','latex');
subplot(3,2,5);
plot(y_sim(:,5),'r');
hold on;
plot(data.REF(1:samples,5),'k');
title('Pitch: $\hat{\omega}_{\theta}$','Interpreter','latex');
subplot(3,2,6);
plot(y_sim(:,6),'r');
hold on;
plot(data.REF(1:samples,6),'k');
title('Yaw: $\hat{\omega}_{\phi}$','Interpreter','latex');
figure;
subplot(3,2,1)
plot(y_sim(:,13));
hold on;
plot(y_sim(:,7),'r');
plot(zeros(Tf*100,1),'k');
title('Longitudinal displacement')
lgd=legend('tripod: $p_{x,T}$','hex: $p_{x,H}$','ref: $p_{x,T}$');
set(lgd,'Interpreter','latex');
subplot(3,2,2)
plot(y_sim(:,14));
hold on;
plot(y_sim(:,8),'r');
plot(zeros(Tf*100,1),'k');
title('Lateral displacement')
lgd=legend('tripod: $p_{y,T}$','hex: $p_{y,H}$','ref: $p_{y,T}$');
set(lgd,'Interpreter','latex');
subplot(3,2,3)
plot(y_sim(:,9),'r');
hold on;
plot(zeros(Tf*100,1),'k');
title('Vertical displacement: $p_{z,H}$','Interpreter','latex');
subplot(3,2,4)
plot(y_sim(:,20));
hold on;
plot(y_sim(:,17),'r');
plot(zeros(Tf*100,1),'k');
title('Yaw')
lgd=legend('tripod: $\phi_T$','hex: $\phi_H$','ref');
set(lgd,'Interpreter','latex');
subplot(3,2,5)
plot(y_sim(:,18),'r');
hold on;
plot(zeros(Tf*100,1),'k');
title('Pitch');
lgd=legend('hexpod: $\theta_H$','ref');
set(lgd,'Interpreter','latex');
subplot(3,2,6)
plot(y_sim(:,19),'r');
hold on;
plot(zeros(Tf*100,1),'k');
title('Roll');
lgd=legend('hexpod: $\psi_H$','ref');
set(lgd,'Interpreter','latex');
figure;
title('Hex actuator constraints')
plot(constraints(:,1:6));
hold on;
plot(1.045*ones(samples,1),':');
plot(1.375*ones(samples,1),':');
axis([0 mem.iter 1.0 1.4]);
title('Hexpod actuator constraints');
case 'TurboEngine'
figure()
ax1 = subplot(4,1,1);
hold on
stairs(time,state_sim(:,3),'Color',blue);
stairs(time,state_sim(:,4),'--','Color',red);
ylabel('actuation / %');
legend('u1', 'u2');
grid on;
ax2 = subplot(4,1,2);
hold on
plot(time(1:end-1),constraints(:,1),'Color',blue);
plot(time(1:end-1),data.REF(1)*ones(1,length(time)-1),'k--');
ylabel('charging pressure / bar');
legend('output', 'reference')
grid on;
ax3 = subplot(4,1,3);
hold on
plot(time(1:end-1),constraints(:,2)*60,'Color',blue);
plot(time(1:end-1),constraints(:,3)*60,'Color',red);
plot(time(1:end-1),90e3*ones(1,length(time)-1),'--','Color',blue);
plot(time(1:end-1),180e3*ones(1,length(time)-1),'--','Color',red);
ylabel('turbocharger speeds / min^{-1}');
grid on;
legend('lp', 'hp', 'limit');
ax4 = subplot(4,1,4);
hold on
plot(time,state_sim(:,1),'Color',blue);
plot(time,state_sim(:,2),'--','Color',red);
ylabel('x / -');
legend('x1', 'x2');
grid on;
xlabel('Time[s]');
end