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Bang-bang behavior
2020-12-19 진행 상황 기록
State를 boundary 안에 잘 넣고 시작하면 MPC exitflag
가 0으로 잘 동작함(예. 적당한 초기 속도 1 m/s 부여 등). 그러나 제어에 사용하기에는 아직 불안정한 모습을 보임.
1. 세팅
- 실험 조건:
변수 | 값 | 단위 |
---|---|---|
dt | 0.05 | s |
dt(fine) | 0.001 | s |
모델 | simple bycicle | - |
- 토픽과 입력값 관계표:
ackermann.drive |
u |
설명 |
---|---|---|
.acceleration |
.dD |
throttle 시간 변화율 |
.steering_angle |
.dDelta |
steering 시간 변화율 |
.speed |
.dVs |
속력 시간 변화율(desired acceleration) (안씀) |
2. 문제점
MPC 솔루션이 일관적이지 않고 bang-bang스러운 모습을 보임.
영상 링크: link
Nested class as a member in a class
선언과 초기화 분리하는 방법
예시)
class Customer {
public:
Customer(void);
Customer(string,char,int);
};
- 선언
#include "Customer.h" class Node { public: Node(void); //default constructor Node(string,char,int); //Node constructor with customer details Node* left; Node* right; Node* parent; Customer customer; };
- 초기화
Node::Node() : left(nullptr), right(nullptr), parent(nullptr), customer() {} Node::Node(string x, char y, int z) : left(nullptr), right(nullptr), parent(nullptr), customer(x, y, z) {}
출처: https://stackoverflow.com/questions/42987199/using-a-class-object-in-another-class
Model by Spec
related pull request: #4
1. 스펙으로 모델 도출
IAC 모델 스펙: google 문서
- 횡방향 Pacejka 모델
Vehicle Lateral Parameter Plotter Data: param.mat/param_feasible eq = tan(pi/(2*C))-k*C == 0 solve(eq,C) for k = 1.9 ~ 3.0(?) then, D = C_alpha*alpha_max/k, B = k/(alpha_max*C) Brief: convert linear tire model to Pacejka Magic formula Fy = C_{alpha}*alpha into Fy = D*sin(C*atan(B*alpha)) using C_{alpha} = D*C*B and C*atan(B*alpha_{max}) = pi/2 and C_{alpha}*alpha_{max} = k*D Thus, plot depending on k = 1.6~2.0
- 종방향 모델
Vehicle Longitudinal Parameter Plotter Fx = (Cm1 - Cm2 * vx) * D - Cr0 - Cr2 * vx^2 Data: param.mat/lonp
vx vs t(simulate assuming full throttle)
matlab code: swl017/MATLAB.git
2. 튜닝
-
scaled -> fullscale의 변화만큼 cost 튜닝
Liniger MPCC fullscale branch: https://github.com/alexliniger/MPCC/blob/fullsize/C%2B%2B/Params/cost.json -
n_sqp
2 -> 100("잘생각해봐")
src/mpcc_controller/mpcc_controller/Params/config.json
"n_sqp": 100,
3. 결과
느리지만 안정적
mpcc_model_by_spce_nsqp_100.mp4 (30 MB)
4. TODO
n_sqp
< 10 에서도 잘 동작하게 튜닝
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