Final updates from Wiki!

Examples/Embedded_Examples.m

@@ -0,0 +1,67 @@
+%% jMPC Toolbox Model Predictive Control Examples
+% Embedded Version
+
+%   Jonathan Currie (C)
+%   Control Engineering 2023
+
+%% Example 1: Oscillatory SISO Example
+% A simple SISO model to get started with for embedded MPC
+clc
+%Model
+Gs = tf(2,[0.7 0.2 1]);
+Ts = 0.1;
+%Convert to Discrete
+Gd = c2d(Gs,Ts);
+%Create a jSS Object
+Plant = jSS(Gd);
+%MPC Model
+Model = Plant;
+
+%Horizons & Time
+Np = 8;                 %Prediction Horizon
+Nc = [4 2 2];           %Control Horizon OR Blocking Moves
+T = 200;                %Length of Simulation
+%Setpoint
+setp = ones(T,1);       %Setpoint
+setp(75:150) = 0.5;
+%Constraints
+con = [];
+con.u = [-inf   inf    0.2];  %in1  [umin umax delumax]
+con.y = [-inf   2];           %out1 [ymin ymax]
+%Weights
+uwt = 0.5;              %U Weights (Larger = Penalize Delta U More)
+ywt = 0.5;              %Y Weights (Larger = Penalize Setpoint-Y More)
+%Estimator Gain
+Kest = dlqe(Model);     %Discrete Observer with W,V = eye()
+
+%-- Build MPC & Simulation --%
+MPC1 = jMPC(Model,Np,Nc,uwt,ywt,con,Kest)
+simopts = jSIM(MPC1,Plant,T,setp);
+%-- Simulate & Plot Result --%
+simresult = sim(MPC1,simopts)
+plot(MPC1,simresult);
+
+%% Embed the controller
+embed(MPC1,simopts)
+
+
+%% Embed controller as single precision
+clc
+embeddedopts = jMPCeset('precision','single');
+embed(MPC1,simopts,embeddedopts)
+
+%% Generate MPC Testbench too (double vs double comparison)
+clc
+embeddedopts = jMPCeset('verifympc',1);
+embed(MPC1,simopts,embeddedopts)
+
+%% Embed controller as single precision (single vs single comparison)
+clc
+embeddedopts = jMPCeset('verifympc',1,'precision','single');
+embed(MPC1,simopts,embeddedopts)
+
+%% Embedded Single Precision Verified against Reference Double Precision
+clc
+embeddedopts = jMPCeset('tbprecision','double','precision','single','verifympc',1);
+embed(MPC1,simopts,embeddedopts)
+

Examples/Linear_Examples.m

@@ -45,6 +45,11 @@
 simresult = sim(MPC1,simopts)
 plot(MPC1,simresult);
 
+%% Compare Simulation Methods
+simresultML = sim(MPC1,simopts,'matlab');
+simresultMX = sim(MPC1,simopts,'mex');
+compare(MPC1,simresultML,simresultMX)
+
 %% Rossiter MIMO Model
 % Ref: J Rossiter (2004), Model-Based Predictive Control, A Practical
 % Approach, CRC Press (Accompanying Software Example).

Examples/PIL_Examples.m

@@ -0,0 +1,53 @@
+%% jMPC Toolbox Model Predictive Control Examples
+% PIL Version
+
+%   Jonathan Currie (C)
+%   Control Engineering 2023
+
+%% Dynamic System to Control via PIL
+clc
+clear
+Gs = tf(2,[0.7 0.2 1]);
+Gd = c2d(Gs,0.1);
+% Create jSS Objects (Model Format)
+Plant = jSS(Gd);
+Model = Plant;  %No Model/Plant Mismatch
+
+%Tuning
+Np = 8;                 %Prediction Horizon
+Nc = [4 2 2];           %Blocking Moves
+uwt = 0.5;              %DeltaU Weights 
+ywt = 0.5;              %Y Weights 
+%Constraints
+con = [];
+con.u = [-inf inf 0.2]; %In1  [umin umax delumax]
+con.y = [-inf 2];       %Out1 [ymin ymax]
+%Estimator Gain
+Kest = dlqe(Model);     %Discrete Observer with W,V = eye()
+
+%Simulation Setup
+T = 200;                %Length of Simulation
+setp = ones(T,1);       %Setpoint
+setp(75:150) = 0.5;
+
+%Single Precision
+opts = jMPCset('Single',1);
+
+%Build MPC & Simulation
+MPC1 = jMPC(Model,Np,Nc,uwt,ywt,con,Kest,opts);
+simopts = jSIM(MPC1,Plant,T,setp);
+
+%Assign Serial Device for PIL comms
+simopts.opts.serialdevice = serial('COM6','BaudRate',1250000);
+
+%% Generated Embedded MPC Controller
+eopts = jMPCeset('arch','c2000','verifympc',1);
+embed(MPC1,simopts,eopts);
+
+%% PIL Verification Run
+simpil = sim(MPC1,simopts,'pil')
+plot(MPC1,simpil,'timing');
+
+%% Compare against MATLAB
+simMX = sim(MPC1,simopts,'mex');
+compare(MPC1,simMX, simpil);

Examples/Quanser 3DOF Helicopter/main_Q3DOF.m

@@ -45,6 +45,8 @@
 Q = 2*eye(6); R = 0.1*eye(3); Q(4,4) = 1; Q(5,5) = 1; Q(6,6) = 0.1;
 Kest = dlqe(Model,Q,R);
 
+%Single precision, lower QP tol for speed and set initial control at
+%linearization point
 opts = jMPCset('Single',1,'QPTol',1e-4,'InitialU',Vop);
 
 %-- Build MPC & Simulation --%
@@ -53,13 +55,14 @@
 %Add serial port connected to 3-DOF acquisition system
 sd = serial('COM6','BaudRate',1250000);
 simopts.opts.serialdevice = sd;
+
 %-- Simulate & Plot Result --%
 simresult = sim(MPC1,simopts)
 plot(MPC1,simresult,'timing');
 
 
 %% Embed The Controller (assumes we are in Matlab\jMPC\Examples\Quanser 3DOF Helicopter\ folder)
-eopts = jMPCeset('arch','c2000','accelqp',1,'dir','..\..\..\Testing\EmbedMPC\');
+eopts = jMPCeset('arch','c2000');
 embed(MPC1,simopts,eopts);
 
 
@@ -69,14 +72,16 @@
 simhelipil = sim(MPC1,simopts,'PIL')
 plot(MPC1,simhelipil,'timing');
 
+%% Compare to MATLAB Sim
+compare(MPC1,simresult,simhelipil);
 
 %% Run Embedded Controller and Record [USE TI Project HeliMPC]
 % IMPORTANT: Start the controller FIRST before running this code.
 clc
 fclose(sd);
 
 %Number of samples to collect (time = n*Ts)
-n = 5000;
+n = 2000;
 
 %Preallocate
 u = zeros(2,n);
@@ -112,6 +117,9 @@
 %% Optionally Save Data
 % save helimpc u xm ym yp setp time iter status MPC1 simopts
 
+%% Optionally Load Data
+load helimpc;
+n = 2000;
 
 %% Plot Results
 Ts = MPC1.Model.Ts;
@@ -122,7 +130,7 @@
 clf;
 subplot(321);
 plot(k,yp(1,idx)*180/pi,'r'); hold on; plot(k,setp(1,idx)*180/pi,'--','color',jcolour('spgrey')); hold off;
-set(gca,'XTickLabel',[],'ylim',[0 18],'xlim',[0 (T-1)*Ts]); 
+set(gca,'XTickLabel',[],'ylim',[0 20],'xlim',[0 (T-1)*Ts]); 
 ylabel('Elevation [\circ]'); 
 
 subplot(322);
@@ -134,7 +142,7 @@
 subplot(323);
 plot(k,yp(3,idx)*180/pi,'r'); hold on; plot(k,setp(2,idx)*180/pi,'--','color',jcolour('spgrey')); hold off;
 % h = hline(-1.1*180/pi,'r:'); set(h,'color',jcolour('softgrey'));
-set(gca,'XTickLabel',[],'ylim',[-50 230],'xlim',[0 (T-1)*Ts]);
+set(gca,'XTickLabel',[],'ylim',[-150 150],'xlim',[0 (T-1)*Ts]);
 ylabel('Rotation [\circ]'); 
 
 subplot(324);
@@ -158,7 +166,7 @@
 axes('Position',[0 0 1 1],'Visible','off','Tag','CommonTitle');
 text(0.3,0.98,'Embedded MPC Control of the 3DOF Helicopter')
 
-squeezefigs(3,3,-0.1,[],false)
-boldfigs(2,13)
-set(gcf,'position',jsize('32'));
+% squeezefigs(3,3,-0.1,[],false)
+% boldfigs(2,13)
+% set(gcf,'position',jsize('32'));
 % printplot('../figs/embedmpc/helimpcsp');