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Merge pull request #5 from JuliaComputing/fbc/dyad-translation
Translate models from MTK to Dyad
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‎Project.toml‎

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@@ -4,28 +4,46 @@ authors = ["Fredrik Bagge Carlson"]
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version = "0.2.0"
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[deps]
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ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
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ControlSystemsMTK = "687d7614-c7e5-45fc-bfc3-9ee385575c88"
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DyadControlSystems = "6f9e59d0-2838-4fee-9bce-c163a6c9592b"
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Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a"
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BlockComponents = "1ef5d832-be8e-447f-9f2c-8b5d17d15fd3"
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DelimitedFiles = "8bb1440f-4735-579b-a4ab-409b98df4dab"
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DyadInterface = "99806f68-afab-45ca-9d8c-ceff6bc61f54"
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Markdown = "d6f4376e-aef5-505a-96c1-9c027394607a"
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ModelingToolkit = "961ee093-0014-501f-94e3-6117800e7a78"
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ModelingToolkitStandardLibrary = "16a59e39-deab-5bd0-87e4-056b12336739"
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OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
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Moshi = "2e0e35c7-a2e4-4343-998d-7ef72827ed2d"
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MultibodyComponents = "01883e52-22cd-4538-b14d-b44f958a131d"
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OrdinaryDiffEqDefault = "50262376-6c5a-4cf5-baba-aaf4f84d72d7"
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Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
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PrecompileTools = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
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RotationalComponents = "824fa3ed-d7dc-4365-8bdf-ac77a1ac2011"
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RuntimeGeneratedFunctions = "7e49a35a-f44a-4d26-94aa-eba1b4ca6b47"
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StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
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WGLMakie = "276b4fcb-3e11-5398-bf8b-a0c2d153d008"
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Symbolics = "0c5d862f-8b57-4792-8d23-62f2024744c7"
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[compat]
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ControlSystemsMTK = "2.5.0"
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Makie = "0.24.8"
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ModelingToolkitStandardLibrary = "2.25.0"
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Plots = "1.41.2"
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BlockComponents = "4"
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DelimitedFiles = "1"
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DyadInterface = "6, 7"
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Markdown = "1"
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ModelingToolkit = "11"
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Moshi = "0.3"
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MultibodyComponents = "0.2"
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OrdinaryDiffEqDefault = "1.12.0, 2"
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PrecompileTools = "1"
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RotationalComponents = "2"
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RuntimeGeneratedFunctions = "0.5.17"
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StaticArrays = "1.9.15"
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WGLMakie = "0.13.8"
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Symbolics = "7"
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julia = "1.12"
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[dyad]
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kernel = "3.2.0"
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[extras]
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CSV = "336ed68f-0bac-5ca0-87d4-7b16caf5d00b"
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DataFrames = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0"
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DyadInterface = "99806f68-afab-45ca-9d8c-ceff6bc61f54"
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OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
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Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
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Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
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[targets]
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test = ["Test"]
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test = ["CSV", "DataFrames", "DyadInterface", "OrdinaryDiffEq", "Plots", "Test"]

‎README.md‎

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# DyadBotComponents
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Dyad models of a two-wheeled balancing robot, together with controller
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architectures and controller-tuning scripts.
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## Models (`dyad/`)
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Plant models:
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- `PlanarDyadBot`: planar model of the robot. A wheel rolling without slip,
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an inverted-pendulum body mounted on the wheel axis through a motor
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(`SimpleMotor`), and an IMU-like sensor. Inputs/outputs: motor torque in,
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position/velocity/tilt/tilt-rate out.
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- `DyadBot3D`: three-dimensional model with two individually spinning wheels
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with slip-based ground contact, allowing the body to tilt.
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Closed-loop models around the planar plant:
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- `AngleControlledDyadBot`: single PID loop stabilizing the tilt angle.
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- `CascadeControlledDyadBot`: cascade control with an inner tilt-angle loop
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and an outer position loop; all six controller gains are exposed as
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tunable top-level parameters.
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- `CascadeFFDyadBot`: the cascade extended with a feedforward generator
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(state-space system loaded from `data/ff_*.csv`) providing filtered
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position reference, tilt-angle feedforward and torque feedforward.
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- `LQGControlledDyadBot`: LQG controller with reference feedforward and
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integral action (state-space system loaded from `data/lqg_*.csv`).
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- `LQGTuningDyadBot`: analysis model used by the LQG design script.
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## Controller tuning scripts (`scripts/`)
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Each script activates the `scripts/` environment and can be run directly:
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- `tune_angle_pid.jl`: PID autotuning of the inner angle loop
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(`PIDAutotuningAnalysisSpec`).
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- `tune_cascade_pid.jl`: PID autotuning of the outer position loop, plus
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robustness analysis (sensitivity functions, disk margins).
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- `tune_cascade_structured.jl`: structured tuning of all six cascade gains
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simultaneously (`StructuredAutoTuningProblem`) with per-loop sensitivity
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bounds and a pole-location constraint.
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- `compute_feedforward.jl`: computes the feedforward generator for
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`CascadeFFDyadBot` and stores it in `data/`.
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- `tune_lqg.jl`: LQG design (`LQGAnalysisSpec`) producing the controller
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used by `LQGControlledDyadBot`, stored in `data/`.
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## Julia utilities (`src/`)
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- `IMUKalmanFilter`: discrete-time Kalman filter for tilt estimation from
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gyro and accelerometer measurements, suitable for embedded use.
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- `balance_original.jl`: standalone Julia implementation of the original
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balance controller (not part of the package module).

‎assets/DyadBot3D.svg‎

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‎assets/PlanarDyadBot.svg‎

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‎data/ff_A.csv‎

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-10.0,0.0,0.0,0.0,0.0,0.0
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-14.385214660422909,-28.180074429831286,6.410957714417602,-0.3411861344383693,5.624997830982584,0.42550666094531925
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0.0,-27.524943331176765,-9.07237685893729,2.716590525931721,7.52990536282097,2.0594837118224145
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0.0,0.0,-14.932517117613333,-5.81703692175721,-3.1098000123955742,0.39739413587492434
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0.0,0.0,0.0,6.515632666548096,0.17171105464563033,2.7772990425184405
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0.0,0.0,0.0,0.0,-2.919195371780299,-3.217509975872825

‎data/ff_B.csv‎

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-4.0
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‎data/ff_C.csv‎

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0.0,0.0,0.0,-5.7658425775341495,2.6953018995043134,0.6805161973061168
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0.0,0.0,0.0,-0.4228284556858375,0.19765547263031624,-1.393408592697625
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0.0,-0.7188567800353611,-0.44401143629627576,0.26102985042304827,0.05274672879236995,0.05575624395194494

‎data/ff_D.csv‎

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0.0
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‎data/ff_nx.txt‎

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‎data/lqg_A.csv‎

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-104539.89472164716,-82946.37940461024,170471.733649769,-43438.76079375156,-8.881784197001252e-16,0.0,0.0,0.0,0.0,0.0
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12.645799600219386,-456.2882268933356,-31.342868024024973,-114.52536290621838,0.0,0.0,0.0,0.0,0.0,0.0
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0.0,0.0027478141674490697,0.14090008323445188,0.6162346940531964,0.0,0.0,0.0,0.0,0.0,0.0
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0.0,368.24823974916546,22.424506481378156,92.86343832465782,-1.0e-12,0.0,0.0,0.0,0.0,0.0
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0.0,0.0,0.0,0.0,0.0,-104539.89472164716,-82946.37940461024,170471.733649769,-43438.76079375156,-8.881784197001252e-16
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0.0,0.0,0.0,0.0,0.0,0.0,368.24823974916546,22.424506481378156,92.86343832465782,-1.0e-12

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