Test the gyro model.

First runs the model with the default RIG, RG, FOG and HRG. ------------------------------------------------------------------------ See also Plot2D, RK4, Gyro ------------------------------------------------------------------------

Contents

%--------------------------------------------------------------------------
%   Copyright (c) 1999 Princeton Satellite Systems, Inc.
%   All rights reserved.
%--------------------------------------------------------------------------

Run the RIG simulation

%-----------------------
dT   = 0.05;
nSim = 100;
x    = zeros(3,nSim);
w    = 0.01;
t    = dT*(0:(nSim-1));
y    = zeros(1,nSim);

Initialize

%-----------
d.u             = [1;0;0];
d.type          = 'mechanical rig default';
d.counter.nBits = 16;
d.counter.id    = 1;
Gyro( 'initialize', d );
Gyro( 'put rate', w );

Output

%-------
y(1) = Gyro( 'get output' );

for k = 2:nSim
  x(:,k) = RK4( 'Gyro', x(:,k-1), dT );
  y(k)   = Gyro( 'get output' );
end

j = 1:k;
y = [y-w(1)*t;y;x];

Plotting

%---------
yLabel = ['Error  '; 'Output '; 'State 1'; 'State 2'; 'State 3'];

Plot2D( t(j), y(:,j), 'Time (sec)',yLabel,'Rate Integrating Gyro');

Run the RG Simulation

%----------------------
x    = zeros(3,nSim);
y    = zeros(1,nSim);

Initialize

%-----------
d.u    = [1;0;0];
d.type = 'mechanical rg default';
Gyro( 'initialize', d );
Gyro( 'put rate', w );

Output

%-------
y(1) = Gyro( 'get output' );

for k = 2:nSim;
  x(:,k) = RK4( 'Gyro', x(:,k-1), dT );
  y(k)   = Gyro( 'get output' );
end

j = 1:k;
y = [y-w(1)*t;y;x];

Plotting

%---------
Plot2D( t(j), y(:,j), 'Time (sec)',yLabel,'Rate Gyro');

Run the FOG Simulation

%-----------------------
nSim = 10000;
dT   = 1;
t    = dT*(0:(nSim-1));
x    = zeros(2,nSim);
y    = zeros(1,nSim);

Initialize

%-----------
d.u    = [1;0;0];
d.type = 'fog default';
Gyro( 'initialize', d );
Gyro( 'put rate', w );

Output

%-------
y(1) = Gyro( 'get output' );

for k = 2:nSim;
  x(:,k) = RK4( 'Gyro', x(:,k-1), dT );
  y(k)   = Gyro( 'get output' );
end

j = 1:k;
y = [y-w(1)*t;y;x];

Plotting

%---------
yLabel = ['Error  '; 'Output '; 'State 1'; 'State 2'];
Plot2D( t(j), y(:,j), 'Time (sec)',yLabel,'FOG');
% Run the FOG Simulation

%-----------------------
nSim = 10000;
dT   = 1;
t    = dT*(0:(nSim-1));
x    = zeros(2,nSim);
y    = zeros(1,nSim);

Initialize

%-----------
d.u    = [1;0;0];
d.type = 'hrg default';
Gyro( 'initialize', d );
Gyro( 'put rate', w );

Output

%-------
y(1) = Gyro( 'get output' );

for k = 2:nSim
  x(:,k) = RK4( 'Gyro', x(:,k-1), dT );
  y(k)   = Gyro( 'get output' );
end

j = 1:k;
y = [y-w(1)*t;y;x];

Plotting

%---------
yLabel = ['Error  '; 'Output '; 'State 1'; 'State 2'];
Plot2D( t(j), y(:,j), 'Time (sec)',yLabel,'HRG');


%--------------------------------------

Published with MATLAB® R2019a