前一篇：
pressbooks.online.ucf.edu/phy2048tjb/chapter/15-5-damped-oscillations/
byjus.com/jee/damped-oscillation/
阻尼振荡器原理上面两个链接，程序下面一个链接。
如何控制呢？PID？
看的如何很懵，正常，后续会把这些点串起来。
代码语言：javascript复制/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/
#pragma once
class CustomController : public ct::core::Controller<2, 1>
{
public:
static const size_t state_dim = 2; // two states
static const size_t control_dim = 1; // one control action
CustomController(const ct::core::ControlVector<control_dim>& uff, // feedforward control
const double& kp, // P gain
const double& kd // D gain
)
: uff_(uff), kp_(kp), kd_(kd)
{
}
~CustomController() {}
CustomController(const CustomController& other) : uff_(other.uff_), kp_(other.kp_), kd_(other.kd_) {}
CustomController* clone() const override
{
return new CustomController(*this); // calls copy constructor
}
void computeControl(const ct::core::StateVector<state_dim>& state,
const double& t,
ct::core::ControlVector<control_dim>& controlAction) override
{
controlAction = uff_; // apply feedforward control
controlAction(0) -= kp_ * state(0) kd_ * state(1); // add feedback control
}
private:
ct::core::ControlVector<control_dim> uff_;
double kp_;
double kd_;
};/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/
#include <ct/core/core.h>
#include <ct/core/examples/CustomController.h>
int main(int argc, char** argv)
{
// a damped oscillator has two states, position and velocity
const size_t state_dim = ct::core::SecondOrderSystem::STATE_DIM; // = 2
const size_t control_dim = ct::core::SecondOrderSystem::CONTROL_DIM; // = 1
// create a state
ct::core::StateVector<state_dim> x;
// we initialize it at a point with unit deflection and zero velocity
x(0) = 1.0;
x(1) = 0.0;
// create our oscillator
double w_n = 50;
std::shared_ptr<ct::core::SecondOrderSystem> oscillator(new ct::core::SecondOrderSystem(w_n));
// create our controller
double kp = 10;
double kd = 1;
ct::core::ControlVector<control_dim> uff;
uff << 2.0;
std::shared_ptr<CustomController> controller(new CustomController(uff, kp, kd));
// assign our controller
oscillator->setController(controller);
// create an integrator
ct::core::Integrator<state_dim> integrator(oscillator, ct::core::IntegrationType::RK4);
// simulate 1000 steps
double dt = 0.001;
ct::core::Time t0 = 0.0;
size_t nSteps = 1000;
integrator.integrate_n_steps(x, t0, nSteps, dt);
// print the new state
std::cout << "state after integration: " << x.transpose() << std::endl;
return 0;
}
