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Convert Roll control example listener to simulation extension

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This commit is contained in:
JoePfeiffer 2022-12-07 15:29:16 -07:00
parent f427cad09f
commit 9027b21a12
6 changed files with 302 additions and 114 deletions
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206
core/src/net/sf/openrocket/simulation/extension/example/RollControl.java Normal file
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package net.sf.openrocket.simulation.extension.impl;
import java.util.ArrayList;
import java.util.List;
import net.sf.openrocket.aerodynamics.FlightConditions;
import net.sf.openrocket.rocketcomponent.FinSet;
import net.sf.openrocket.rocketcomponent.RocketComponent;
import net.sf.openrocket.simulation.FlightDataType;
import net.sf.openrocket.simulation.SimulationConditions;
import net.sf.openrocket.simulation.SimulationStatus;
import net.sf.openrocket.simulation.exception.SimulationException;
import net.sf.openrocket.simulation.extension.AbstractSimulationExtension;
import net.sf.openrocket.simulation.listeners.AbstractSimulationListener;
import net.sf.openrocket.unit.UnitGroup;
import net.sf.openrocket.util.MathUtil;
/**
* An example listener that applies a PI-controller to adjust the cant of fins
* to control the rocket's roll rate
*
* @author Sampo Niskanen <sampo.niskanen@iki.fi>
*
* One note: making aerodynamic changes during the simulation results in the simulation
* running *extremely* slowly
*/
public class RollControl extends AbstractSimulationExtension {
// save fin cant angle as a FlightDataType
private static final ArrayList<FlightDataType> types = new ArrayList<FlightDataType>();
private static final FlightDataType FIN_CANT_TYPE = FlightDataType.getType("Control fin cant", "\u03B1fc", UnitGroup.UNITS_ANGLE);
@Override
public void initialize(SimulationConditions conditions) throws SimulationException {
conditions.getSimulationListenerList().add(new RollControlListener());
}
@Override
public String getName() {
return "Roll Control";
}
@Override
public String getDescription() {
return "Use a PID control to control a rocket's roll. The current cant angle of the control finset is published to flight data as \u03B1fc. "
+ "Since this extension modifies design parameters during the simulation, it causes the simulation to run <b>much</b> more slowly.";
}
@Override
public List<FlightDataType> getFlightDataTypes() {
return types;
}
RollControl() {
types.add(FIN_CANT_TYPE);
}
public String getControlFinName() {
return config.getString("controlFinName", "CONTROL");
}
public void setControlFinName(String name) {
config.put("controlFinName", name);
fireChangeEvent();
}
public double getStartTime() {
return config.getDouble("startTime", 0.5);
}
public void setStartTime(double startTime) {
config.put("startTime", startTime);
fireChangeEvent();
}
// Desired roll rate (rad/sec)
public double getSetPoint() {
return config.getDouble("setPoint", 0.0);
}
public void setSetPoint(double rollRate) {
config.put("setPoint", rollRate);
fireChangeEvent();
}
// Maximum control fin turn rate (rad/sec)
public double getFinRate() {
return config.getDouble("finRate", 10 * Math.PI/180);
}
public void setFinRate(double finRate) {
config.put("finRate", finRate);
fireChangeEvent();
}
// Maximum control fin angle (rad)
public double getMaxFinAngle() {
return config.getDouble("maxFinAngle", 15 * Math.PI / 180);
}
public void setMaxFinAngle(double maxFin) {
config.put("maxFinAngle", maxFin);
fireChangeEvent();
}
public double getKP() {
return config.getDouble("KP", 0.007);
}
public void setKP(double KP) {
config.put("KP", KP);
fireChangeEvent();
}
public double getKI() {
return config.getDouble("KI", 0.2);
}
public void setKI(double KI) {
config.put("KI", KI);
fireChangeEvent();
}
private class RollControlListener extends AbstractSimulationListener {
private FinSet finset;
private double rollRate;
private double prevTime = 0;
private double intState = 0;
private double initialFinPosition;
private double finPosition = 0;
@Override
public void startSimulation(SimulationStatus status) throws SimulationException {
// Find the fin set
finset = null;
for (RocketComponent c : status.getConfiguration().getActiveComponents()) {
if ((c instanceof FinSet) && c.getName().equals(getControlFinName())) {
finset = (FinSet) c;
break;
}
}
if (finset == null) {
throw new SimulationException("A fin set with name '" + getControlFinName() + "' was not found");
}
// remember the initial fin position so we can set it back after running the simulation
initialFinPosition = finset.getCantAngle();
}
@Override
public FlightConditions postFlightConditions(SimulationStatus status, FlightConditions flightConditions) {
// Store the current roll rate for later use
rollRate = flightConditions.getRollRate();
return null;
}
@Override
public void postStep(SimulationStatus status) throws SimulationException {
// Activate PID controller only after a specific time
if (status.getSimulationTime() < getStartTime()) {
prevTime = status.getSimulationTime();
return;
}
// Determine time step
double deltaT = status.getSimulationTime() - prevTime;
prevTime = status.getSimulationTime();
// PID controller
double error = getSetPoint() - rollRate;
double p = getKP() * error;
intState += error * deltaT;
double i = getKI() * intState;
double value = p + i;
// Limit the fin turn rate
if (finPosition < value) {
finPosition = Math.min(finPosition + getFinRate() * deltaT, value);
} else {
finPosition = Math.max(finPosition - getFinRate() * deltaT, value);
}
// Clamp the fin angle between bounds
if (Math.abs(value) > getMaxFinAngle()) {
System.err.printf("Attempting to set angle %.1f at t=%.3f, clamping.\n",
value * 180 / Math.PI, status.getSimulationTime());
value = MathUtil.clamp(value, -getMaxFinAngle(), getMaxFinAngle());
}
// Set the control fin cant and store the data
finset.setCantAngle(finPosition);
status.getFlightData().setValue(FIN_CANT_TYPE, finPosition);
}
@Override
public void endSimulation(SimulationStatus status, SimulationException exception) {
finset.setCantAngle(initialFinPosition);
}
}
}

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core/src/net/sf/openrocket/simulation/extension/example/RollControlProvider.java Normal file
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package net.sf.openrocket.simulation.extension.impl;
import net.sf.openrocket.plugin.Plugin;
import net.sf.openrocket.simulation.extension.AbstractSimulationExtensionProvider;
@Plugin
public class RollControlProvider extends AbstractSimulationExtensionProvider {
public RollControlProvider() {
super(RollControl.class, "Control Enhancements", "Roll Control");
}
}

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core/src/net/sf/openrocket/simulation/listeners/example/RollControlListener.java
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package net.sf.openrocket.simulation.listeners.example;
import net.sf.openrocket.aerodynamics.FlightConditions;
import net.sf.openrocket.rocketcomponent.FinSet;
import net.sf.openrocket.rocketcomponent.RocketComponent;
import net.sf.openrocket.simulation.FlightDataType;
import net.sf.openrocket.simulation.SimulationStatus;
import net.sf.openrocket.simulation.exception.SimulationException;
import net.sf.openrocket.simulation.listeners.AbstractSimulationListener;
import net.sf.openrocket.unit.UnitGroup;
import net.sf.openrocket.util.MathUtil;
/**
* An example listener that applies a PI-controller to adjust the cant of fins
* named "CONTROL" to stop the rocket from rolling.
*
* @author Sampo Niskanen <sampo.niskanen@iki.fi>
*/
public class RollControlListener extends AbstractSimulationListener {
// Name of control fin set
private static final String CONTROL_FIN_NAME = "CONTROL";
// Define custom flight data type
private static final FlightDataType FIN_CANT_TYPE = FlightDataType.getType("Control fin cant", "\u03B1fc", UnitGroup.UNITS_ANGLE);
// Simulation time at which PID controller is activated
private static final double START_TIME = 0.5;
// Desired roll rate (rad/sec)
private static final double SETPOINT = 0.0;
// Maximum control fin turn rate (rad/sec)
private static final double TURNRATE = 10 * Math.PI / 180;
// Maximum control fin angle (rad)
private static final double MAX_ANGLE = 15 * Math.PI / 180;
/*
* PID parameters
*
* At M=0.3 KP oscillation threshold between 0.35 and 0.4. Good KI=3
* At M=0.6 KP oscillation threshold between 0.07 and 0.08 Good KI=2
* At M=0.9 KP oscillation threshold between 0.013 and 0.014 Good KI=0.5
*/
private static final double KP = 0.007;
private static final double KI = 0.2;
private double rollRate;
private double prevTime = 0;
private double intState = 0;
private double finPosition = 0;
@Override
public FlightConditions postFlightConditions(SimulationStatus status, FlightConditions flightConditions) {
// Store the current roll rate for later use
rollRate = flightConditions.getRollRate();
return null;
}
@Override
public void postStep(SimulationStatus status) throws SimulationException {
// Activate PID controller only after a specific time
if (status.getSimulationTime() < START_TIME) {
prevTime = status.getSimulationTime();
return;
}
// Find the fin set named CONTROL
FinSet finset = null;
for (RocketComponent c : status.getConfiguration().getActiveComponents()) {
if ((c instanceof FinSet) && (c.getName().equals(CONTROL_FIN_NAME))) {
finset = (FinSet) c;
break;
}
}
if (finset == null) {
throw new SimulationException("A fin set with name '" + CONTROL_FIN_NAME + "' was not found");
}
// Determine time step
double deltaT = status.getSimulationTime() - prevTime;
prevTime = status.getSimulationTime();
// PID controller
double error = SETPOINT - rollRate;
double p = KP * error;
intState += error * deltaT;
double i = KI * intState;
double value = p + i;
// Clamp the fin angle between -MAX_ANGLE and MAX_ANGLE
if (Math.abs(value) > MAX_ANGLE) {
System.err.printf("Attempting to set angle %.1f at t=%.3f, clamping.\n",
value * 180 / Math.PI, status.getSimulationTime());
value = MathUtil.clamp(value, -MAX_ANGLE, MAX_ANGLE);
}
// Limit the fin turn rate
if (finPosition < value) {
finPosition = Math.min(finPosition + TURNRATE * deltaT, value);
} else {
finPosition = Math.max(finPosition - TURNRATE * deltaT, value);
}
// Set the control fin cant and store the data
finset.setCantAngle(finPosition);
status.getFlightData().setValue(FIN_CANT_TYPE, finPosition);
}
}

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swing/src/net/sf/openrocket/simulation/extension/example/RollControlConfigurator.java Normal file
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package net.sf.openrocket.simulation.extension.impl;
import javax.swing.JComponent;
import javax.swing.JLabel;
import javax.swing.JPanel;
import javax.swing.JSpinner;
import javax.swing.JTextField;
import java.awt.event.FocusEvent;
import java.awt.event.FocusListener;
import net.sf.openrocket.document.Simulation;
import net.sf.openrocket.gui.SpinnerEditor;
import net.sf.openrocket.gui.adaptors.DoubleModel;
import net.sf.openrocket.gui.components.BasicSlider;
import net.sf.openrocket.gui.components.UnitSelector;
import net.sf.openrocket.plugin.Plugin;
import net.sf.openrocket.simulation.extension.AbstractSwingSimulationExtensionConfigurator;
import net.sf.openrocket.unit.UnitGroup;
@Plugin
public class RollControlConfigurator extends AbstractSwingSimulationExtensionConfigurator<RollControl> {
private JPanel panel;
private RollControl extension;
public RollControlConfigurator() {
super(RollControl.class);
}
@Override
protected JComponent getConfigurationComponent(RollControl extension, Simulation simulation, JPanel panel) {
this.panel = panel;
this.extension = extension;
panel.add(new JLabel("Control FinSet Name:"));
JTextField finSetName = new JTextField();
finSetName.setText(extension.getControlFinName());
finSetName.addFocusListener(new FocusListener() {
@Override
public void focusGained(FocusEvent e) {}
@Override
public void focusLost(FocusEvent e) {
extension.setControlFinName(finSetName.getText());
}
});
panel.add(finSetName, "growx, span3, wrap");
addRow("Start Time", "StartTime", UnitGroup.UNITS_SHORT_TIME, 0.0, 1200.0);
addRow("Desired Roll Rate", "SetPoint", UnitGroup.UNITS_ROLL, -10.0, 10.0);
addRow("Max Fin Turn Rate", "FinRate", UnitGroup.UNITS_ROLL, 0, 10);
addRow("Max Fin Angle", "MaxFinAngle", UnitGroup.UNITS_ANGLE, 0, 0.25);
panel.add(new JLabel("PID parameters:"), "newline 0.25in, span4, wrap");
panel.add(new JLabel("At M=0.3 KP oscillation threshold between 0.35 and 0.4. Good KI=3" ), "gapbefore indent, span4, wrap");
panel.add(new JLabel("At M=0.6 KP oscillation threshold between 0.07 and 0.08 Good KI=2" ), "gapbefore indent, span4, wrap");
panel.add(new JLabel("At M=0.9 KP oscillation threshold between 0.013 and 0.014 Good KI=0.5"), "gapbefore indent, span4, wrap");
addRow("KP (Proportional)", "KP", UnitGroup.UNITS_COEFFICIENT, 0.0, 0.02);
addRow("KI (Integrated)", "KI", UnitGroup.UNITS_COEFFICIENT, 0.0, 1.0);
return panel;
}
private void addRow(String prompt, String fieldName, UnitGroup units, double min, double max) {
panel.add(new JLabel(prompt + ":"));
DoubleModel m = new DoubleModel(extension, fieldName, units, min, max);
JSpinner spin = new JSpinner(m.getSpinnerModel());
spin.setEditor(new SpinnerEditor(spin));
panel.add(spin, "w 65lp!");
UnitSelector unit = new UnitSelector(m);
panel.add(unit, "w 25");
BasicSlider slider = new BasicSlider(m.getSliderModel(0, 1000));
panel.add(slider, "w 75lp, wrap");
}
}