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Updated documentation for control abstractions.

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This commit is contained in:
spencerfolk
2023-12-14 16:17:16 -05:00
parent 93113cd964
commit 9797c2bad7
2 changed files with 38 additions and 11 deletions
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35
rotorpy/controllers/controller_template.py
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@@ -4,18 +4,23 @@ Imports
import numpy as np
from scipy.spatial.transform import Rotation # This is a useful library for working with attitude.
class ControlTemplate(object):
class MultirotorControlTemplate(object):
"""
The controller is implemented as a class with two required methods: __init__() and update().
The __init__() is used to instantiate the controller, and this is where any model parameters or
controller gains should be set.
In update(), the current time, state, and desired flat outputs are passed into the controller at
each simulation step. The output of the controller should be the commanded motor speeds,
commanded thrust, commanded moment, and commanded attitude (in quaternion [x,y,z,w] format).
each simulation step. The output of the controller depends on the control abstraction for Multirotor...
if cmd_motor_speeds: the output dict should contain the key 'cmd_motor_speeds'
if cmd_motor_thrusts: the output dict should contain the key 'cmd_rotor_thrusts'
if cmd_vel: the output dict should contain the key 'cmd_v'
if cmd_ctatt: the output dict should contain the keys 'cmd_thrust' and 'cmd_q'
if cmd_ctbr: the output dict should contain the keys 'cmd_thrust' and 'cmd_w'
if cmd_ctbm: the output dict should contain the keys 'cmd_thrust' and 'cmd_moment'
"""
def __init__(self, vehicle_params):
"""
Use this constructor to save vehicle parameters, set controller gains, etc.
Parameters:
vehicle_params, dict with keys specified in a python file under /rotorpy/vehicles/
@@ -44,18 +49,30 @@ class ControlTemplate(object):
Outputs:
control_input, a dict describing the present computed control inputs with keys
cmd_motor_speeds, rad/s
cmd_thrust, N (for debugging and laboratory; not used by simulator)
cmd_moment, N*m (for debugging; not used by simulator)
cmd_q, quaternion [i,j,k,w] (for laboratory; not used by simulator)
key, description, unit, (applicable control abstraction)
cmd_motor_speeds, the commanded speed for each motor, rad/s, (cmd_motor_speeds)
cmd_thrust, the collective thrust of all rotors, N, (cmd_ctatt, cmd_ctbr, cmd_ctbm)
cmd_moment, the control moments on each boxy axis, N*m, (cmd_ctbm)
cmd_q, desired attitude as a quaternion [i,j,k,w], , (cmd_ctatt)
cmd_w, desired angular rates in body frame, rad/s, (cmd_ctbr)
cmd_v, desired velocity vector in world frame, m/s (cmd_vel)
"""
# Only some of these are necessary depending on your desired control abstraction.
cmd_motor_speeds = np.zeros((4,))
cmd_motor_thrusts = np.zeros((4,))
cmd_thrust = 0
cmd_moment = np.zeros((3,))
cmd_q = np.array([0,0,0,1])
cmd_w = np.zeros((3,))
cmd_v = np.zeros((3,))
control_input = {'cmd_motor_speeds':cmd_motor_speeds,
'cmd_motor_thrusts':cmd_motor_thrusts,
'cmd_thrust':cmd_thrust,
'cmd_moment':cmd_moment,
'cmd_q':cmd_q}
'cmd_q':cmd_q,
'cmd_w':cmd_w,
'cmd_v':cmd_v}
return control_input