├── Nonlinear_Motor_Tracking.slx ├── Phoenix_Main.slx └── README.md /Nonlinear_Motor_Tracking.slx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/utiasSTARS/Phoenix-Simulink/73956b38ca6f83d3c24ccd767278b017dfc57d8e/Nonlinear_Motor_Tracking.slx -------------------------------------------------------------------------------- /Phoenix_Main.slx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/utiasSTARS/Phoenix-Simulink/73956b38ca6f83d3c24ccd767278b017dfc57d8e/Phoenix_Main.slx -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Phoenix-Simulink 2 | Phoenix Tailsitter MATLAB Simulink Models 3 | 4 | This repository contains the MATLAB simulink models to simulate the Phoenix's dynamics and motion controllers. You need both models to run simulations. 5 | 6 | The entry of the simulation is `Phoenix_Main.slx`. Within this model, you can specify a simulated position and velocity trajectory for the simulator to start or import log data from the MATLAB workspace. 7 | 8 | `Phoenix_Main.slx` references `Nonlinear_Motor_Tracking`, which is a high-fidelity emulation of the motor dynamics and speed control strategy. We model the dynamics of the BLDC motor as a second-order system (taking the inductance into account) and apply a PI controller to improve speed tracking performance. All dynamic parameters and controller gains used in real experiments are being used in simulation. Refer to the simulink parameters for their values. 9 | 10 | For questions, contact Yilun Wu at . 11 | --------------------------------------------------------------------------------