Speed loop needs more integrator about simscapefopd

[cnpcshangbo]

From sys ID,
K=1.102, T1=0.17936
From iopid_tune.m
Kp = 10.7, Ki = 15.2, Kd = 1.66
CrossoverFrequency: 9.9298
PhaseMargin: 83.8783

[cnpcshangbo]

CrossPoint (lambda=-0.9693, ki=0.1631)
kp = 9.9498;

[cnpcshangbo]

[cnpcshangbo]

[cnpcshangbo]

/Users/standard/Documents/GitHub/simscapeFOPD/QuadRotor/work/IRID/phiz_cal.m
Cd.Num=
[1.72350618609064,-5.70339892298403,7.11891293410561,-4.08227197470563,1.02223847578118,-0.0786444191365231];
Cd.den=
[0.0101201839324044,-0.0228427827690589,0.0162967440497079,-0.00320636053105791,-0.000423005899049262,8.95094110425754e-05];

[cnpcshangbo]

The next is to test the discrete FOC in Simscape and /Users/standard/Documents/GitHub/simscapeFOPD/QuadRotor/work/IRID/verify.slx

[cnpcshangbo]

Numerical simulation result:

[cnpcshangbo]

This is the curve in drone simulator. The spread at last is due to roll, pitch and yaw. I already have plan on this: #20

[cnpcshangbo]

I am going to use this commit to write up my article to submit on March 18. 68d07ef