*

Makerbase_ODrive/ODrive-fw-v0.5.1/analysis/numeric_path_opt/Main.m

@@ -0,0 +1,43 @@
+%Params
+AccelPerA = 3000;
+phaseR = 0.033;
+Ts = 0.001;
+N = 50;
+thetaFinal = 200;
+x0 = [0;0];
+
+%system definition
+%X = [theta; omega]
+Ac = [0 1;
+     0 0];
+Bc = [0;
+     AccelPerA];
+C = 0;
+D = 0;
+
+SYSC = ss(Ac, Bc, [], []);
+SYSD = c2d(SYSC, Ts, 'zoh');
+[Phi, Gamma] = predictionmatrices(SYSD.a, SYSD.b, SYSD.c, N);
+
+Df = Gamma(end-1:end,:);
+ff = [thetaFinal; 0];
+
+H = 2*eye(N)*(3/2)*phaseR*Ts;
+[u, fval] = quadprog(H,[],[],[],Df,ff);
+
+xv = reshape(Gamma*u, 2,N)';
+x = xv(:,1);
+v = xv(:,2);
+
+kv350_lambda = 2.2e-3;
+power = u.*v.*(3/2)*kv350_lambda;
+
+Vbus = 24;
+Ib = power/Vbus;
+Im = u;
+duty = Ib./Im;
+CapIsqr = (duty.*(Ib-Im)).^2 + ((1-duty).*Ib).^2;
+CapIrms = sqrt(sum(CapIsqr)/N);
+CapR = 0.08;
+Ncaps = 8;
+Cappow = (CapIrms/Ncaps)^2 * CapR

Makerbase_ODrive/ODrive-fw-v0.5.1/analysis/numeric_path_opt/predictionmatrices.m

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+function [Phi, Gamma, Lambda] = predictionmatrices(A, B, C, N)
+%UNTITLED2 Summary of this function goes here
+%   Detailed explanation goes here
+
+n = size(A,1);
+Atilde = [A; zeros((N-1)*n, n)];
+k = [zeros(n, N*n); -kron(eye(N-1), A) zeros((N-1)*n,n)] + eye(N*n);
+
+Phi = k\Atilde;
+Gamma = k\kron(eye(N), B);
+Lambda = kron(eye(N), C);
+
+end
+