The autopilot consists of two cascaded loops whose tunable elements include two PI
controller gains ("az Control" block) and one gain in the pitch-rate loop ("q Gain" block).
The vertical acceleration az should track the command azref with a 1 second response
time. Use slTuner to configure this tuning task (see "Tuning of a Two-Loop Autopilot"
example for details):
ST0 = slTuner('rct_airframe1',{'az Control','q Gain'});
addPoint(ST0,{'az ref','delta fin','az','q'})
% Design requirements
wc = [3,12]; % bandwidth
TrackReq = TuningGoal.Tracking('az ref','az',1); % tracking
Parallel Tuning with LOOPTUNE
We are ready to tune the autopilot gains with looptune. To minimize the risk of getting a
poor-quality local minimum, run 30 optimizations starting from 30 randomly generated
values of the three gains. Configure the looptune options to enable parallel processing
of these 30 runs:
Using Parallel Computing to Accelerate Tuning