From 48047d06a8dc91045c6b191c167294a6eaafe211 Mon Sep 17 00:00:00 2001 From: Uwe Fechner Date: Thu, 24 Oct 2024 17:22:54 +0200 Subject: [PATCH] v9 good with 13 m/s --- examples/parking_4p.jl | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/examples/parking_4p.jl b/examples/parking_4p.jl index 098e12ad..8f633751 100644 --- a/examples/parking_4p.jl +++ b/examples/parking_4p.jl @@ -12,11 +12,11 @@ using Pkg # pkg"add KiteModels#main" using KiteControllers, KiteViewers, KiteModels, ControlPlots, Rotations -set = deepcopy(load_settings("system.yaml")) +set = deepcopy(load_settings("system_v9.yaml")) set.abs_tol=0.00006 set.rel_tol=0.0001 # set.version = 1 -set.v_wind = 7.7 # v_min1 7.7; v_min2 12.3 v_min3 10.5 +set.v_wind = 13 # v_min1 7.7; v_min2 12.3 v_min3 10.5 kcu::KCU = KCU(set) kps4::KPS4 = KPS4(kcu) @@ -48,12 +48,12 @@ if KiteUtils.PROJECT == "system.yaml" else # result of tuning println("not system.yaml") - fcs.p=0.25 - fcs.i=0.04 - fcs.d=13.25*1.3 + fcs.p=1.6 + fcs.i=0.06 + fcs.d=13.25*1.25 MIN_DEPOWER = 0.4 fcs.use_chi = false - fcs.gain = 0.04*0.5 + fcs.gain = 0.04*3 end println("fcs.p=$(fcs.p), fcs.i=$(fcs.i), fcs.d=$(fcs.d), fcs.gain=$(fcs.gain)") @@ -92,7 +92,7 @@ function simulate(integrator) if KiteUtils.PROJECT == "system.yaml" steering = calc_steering(ssc, 0; heading) else - steering = -calc_steering(ssc, 0; heading) + steering = calc_steering(ssc, 0; heading) end # steering = 0.15*sys_state.azimuth time = i * dt