Tuning Goals
Use the same tuning goals as in Part 3 (“Attitude Control in the HL-20 Autopilot - SISO
Design” (Control System Toolbox)). These include "MinLoopGain" and "MaxLoopGain"
goals to set the gain crossover of the outer loops between 0.5 and 5 rad/s.
R1 = TuningGoal.MinLoopGain({'Phi_deg','Alpha_deg','Beta_deg'},0.5,1);
R1.LoopScaling = 'off';
R2 = TuningGoal.MaxLoopGain({'Phi_deg','Alpha_deg','Beta_deg'},tf(50,[1 10 0]));
R2.LoopScaling = 'off';
These also include a varying "Margins" goal to impose adequate stability margins in each
loop and across loops.
% Gain margins vs (alpha,beta)
GM = [...
6 6 6 6 6
6 6 7 6 6
7 7 7 7 7
7 7 7 7 7
7 7 7 7 7
7 7 7 7 7
6 6 7 6 6
6 6 6 6 6];
% Phase margins vs (alpha,beta)
PM = [...
40 40 40 40 40
40 40 45 40 40
45 45 45 45 45
45 45 45 45 45
45 45 45 45 45
45 45 45 45 45
40 40 45 40 40
40 40 40 40 40];
% Create varying goal
FH = @(gm,pm) TuningGoal.Margins({'da','de','dr'},gm,pm);
R3 = varyingGoal(FH,GM,PM);
Gain Schedule Tuning
You can now use systune to shape the six gain surfaces against the tuning goals at all 40
design points.
MATLAB Workflow for Tuning the HL-20 Autopilot