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Improvements derived from semestral work

Open Jakub Vaněk requested to merge vanekj19/quanser-active-suspension:jv-updates into master
@@ -55,10 +55,11 @@ Two state space formats are used here:
- `dzs` = speed of the upper mass.
- `zus-zr` = distance of lowre mass and the road platform wrt. its idle value.
- `dzus` = speed of the lower mass.
This state space might be more useful for controller design. Its advantage
is that when the physical model reaches steady state, all states here should
be zero. This is advantageous for LQR design: the task can then be
formulated as a regulation task and not a tracking task.
The "Quanser" state space might be more useful for controller design. Its advantage
is that when the physical model reaches steady state, all states here should
be zero. This is advantageous for LQR design: the task can then be
formulated as a regulation task and not a tracking task.
These state spaces *cannot* be converted one to another using a state-space
similarity transformation. The issue is that the model with "observed" states
@@ -87,14 +88,14 @@ a spring factor).
## Generic notes
- The model constants were determined using scripts in the `/data/jv` directory.
- The model constants were determined using scripts in the `/data/students` directory.
- The H-infinity controller could be improved by using frequency-dependent weights.
Currently the weights are just static gains.
- There are various places where friction can be modelled:
- Viscous friction parallel to springs (equivalent to a shock absorber in cars).
- Viscous friction in the bearings between masses and the base.
- Static friction in the bearings between the masses and the base.
The Quanser lab model only assumes the first type of friction.
- The Quanser lab model only assumes the first type of friction.
This seemed unrealistic to me -- there is no shock absorber mounted on the
physical model in the lab. The Simulink model here uses only the last two
types of friction - I assume the bearings are where most of the losses are happening.
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