adipu/guadaloop_lev_control
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Added more noise simulation and a multi-simulate file that auto-runs multiple simulations with a desired noise level.

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pulipakaa24
2025-11-23 14:08:21 -06:00
parent 4435f55d1f
commit b721ae8fa3
9 changed files with 581 additions and 45 deletions
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9
MAGLEV_DIGITALTWIN_PYTHON/dynamics.py
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@@ -44,8 +44,9 @@ def quad_ode_function_hf(t, X, eaVec, distVec, P):
Xdot : ndarray, shape (22,)
Time derivative of the input vector X
"""
yokeR = P['quadParams'].yokeR # in ohms
yokeL = P['quadParams'].yokeL # in henries
# Use individual yoke resistances and inductances
yokeR = P['quadParams'].yokeR_individual # 4-element array in ohms
yokeL = P['quadParams'].yokeL_individual # 4-element array in henries
# Extract state variables
currents = X[18:22] # indices 19:22 in MATLAB (1-indexed) = 18:22 in Python
@@ -85,8 +86,8 @@ def quad_ode_function_hf(t, X, eaVec, distVec, P):
# Calculate torques on body
Nb = np.zeros(3)
for i in range(4): # loop through each yoke
# Voltage-motor modeling
currentsdot[i] = (eaVec[i] - currents[i] * yokeR) / yokeL
# Voltage-motor modeling using individual R and L for each yoke
currentsdot[i] = (eaVec[i] - currents[i] * yokeR[i]) / yokeL[i]
NiB = np.zeros(3) # since yokes can't cause moment by themselves
FiB = np.array([0, 0, Fm[i]])