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main.m
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%%this is a test line
clc;clear;close all
%% INIT %%
IC = load('init-test_small.mat').IC;
% IC = [-483.767045759555,-584.583619137290,2413.04233229495,-19.8710395039958,-24.4932506265223,-82.2778907669142,1849.31049678031];
t0 = 0;
tf = 100;
%% DE solve %%
% run < parpool(8) > in cmd window before using < parfor >
% run < delete(gcp('nocreate')) > to close the parallel pool, must be done
% to ensure RAM space is released
N = 10000;
tSpan = linspace(t0,tf,N);
del_m = zeros(1, length(IC));
bf = 5;
% 1: smooth
% 2: glideslope
% 3: 1-step
% 4: flat top, 1-step
% 5: flat top, 2-step
tic
for cl = 2:3
% 1: classical ZEM-ZEV
% 2: self adjusting ZEM-ZEV
% 3: new ogl
parfor i = 1:length(IC) % set this to < parfor > when needed
init = IC(i,:);
[t,x] = ode45(@(t,x) odemain(t,x,bf,cl), tSpan, init);
%% PLOTS %%
N = length(x);
% % % TRAJECTORY %
% % figure(1)
% % plot3(x(:,1),x(:,2),x(:,3), 'LineWidth', 1.5);
% % hold on
% % plot3(x(1,1),x(1,2),x(1,3),'ks')
% % hold on
% % plot3(x(N,1),x(N,2),x(N,3),'ro')
% % hold on
% % grid on
% %
% POSITION %
figure(2)
subplot(3,1,1)
plot(t,x(:,1))
hold on
grid on
subplot(3,1,2)
plot(t,x(:,2))
hold on
grid on
subplot(3,1,3)
plot(t,x(:,3))
hold on
grid on
% VELOCITY %
figure(3)
subplot(3,1,1)
plot(t,x(:,4))
hold on
grid on
subplot(3,1,2)
plot(t,x(:,5))
hold on
grid on
subplot(3,1,3)
plot(t,x(:,6))
hold on
grid on
% % THRUST %
% A = [0 0 1]';
% del = 1;
% phi = del^2/3;
% c = 500;
% tgo = tf - t;
% r = [x(:,1) x(:,2) x(:,3)];
% v = [x(:,4) x(:,5) x(:,6)];
% ZEM = rd' - (r + v.*tgo + 0.5*g'.*tgo.^2);
% ZEV = vd' - (v + g'.*tgo);
% a_av = c*(x(:,3).^2 - phi).*(tgo.^2)./(24*(x(:,3).^2 + phi).^2);
% T = ((6*ZEM./tgo.^2) - (2*ZEV./tgo) + a_av).*x(:,7);
%
% figure(5)
% subplot(3,1,1)
% plot(t,T(:,1))
% grid on
%
% subplot(3,1,2)
% plot(t,T(:,2))
% grid on
%
% subplot(3,1,3)
% plot(t,T(:,3))
% grid on
if bf == 1
bx = 0:0.1:650;
by = 0:0.1:650;
bzx = zeros(1,6501);
bzy = zeros(1,6501);
k0 = [0;0;0];
k1 = [0.17;0.17;0.17]*1000;
k2 = [0;0;1];
k3 = [6;6;6];
bzx = ((bx-k0(1))/k1(1)).^(k3(1)) - k2(1);
bzy = ((by-k0(2))/k1(2)).^(k3(2)) - k2(2);
elseif bf == 2
bx = 0:0.1:1000;
by = 0:0.1:1000;
bzx = zeros(1,1001);
bzy = zeros(1,1001);
k0 = [0;0;0];
k1 = [1.5;1.5;1.5];
k2 = [0;0;1];
k3 = [1;1;1];
bzx = ((bx-k0(1))/k1(1)).^(k3(1)) - k2(1);
bzy = ((by-k0(2))/k1(2)).^(k3(2)) - k2(2);
elseif bf == 3
bx = 0:0.1:1000;
by = 0:0.1:1000;
bzx = zeros(1,10001);
bzy = zeros(1,10001);
for j = 1:width(bx)
if bx(j) > 300
k0 = [300;300;300];
k1 = [178;178;178];
k2 = [-200;-200;1];
k3 = [6;6;6];
bzx(j) = ((bx(j)-k0(1))/k1(1)).^(k3(1)) - k2(1);
else
k0 = [0;0;0];
k1 = [231;231;231];
k2 = [0;0;1];
k3 = [20;20;20];
bzx(j) = ((bx(j)-k0(1))/k1(1)).^(k3(1)) - k2(1);
end
end
for k = 1:width(by)
if by(k) > 300
k0 = [300;300;300];
k1 = [178;178;178];
k2 = [-200;-200;1];
k3 = [6;6;6];
bzy(k) = ((by(k)-k0(2))/k1(2)).^(k3(2)) - k2(2);
else
k0 = [0;0;0];
k1 = [231;231;231];
k2 = [0;0;1];
k3 = [20;20;20];
bzy(k) = ((by(k)-k0(2))/k1(2)).^(k3(2)) - k2(2);
end
end
elseif bf == 4
bx = 0:0.1:1000;
by = 0:0.1:1000;
bzx = zeros(1,10001);
bzy = zeros(1,10001);
for j = 1:width(bx)
if bx(j) > 300
k0 = 0*ones(3,1);
k1 = 300*ones(3,1);
k2 = [-200;-200;201];
k3 = 1*ones(3,1);
bzx(j) = ((bx(j)-k0(1))/k1(1)).^(k3(1)) - k2(1);
else
k0 = [0;0;0];
k1 = [230;230;230];
k2 = [0;0;1];
k3 = [20;20;20];
bzx(j) = ((bx(j)-k0(1))/k1(1)).^(k3(1)) - k2(1);
end
end
for k = 1:width(by)
if by(k) > 300
k0 = 0*ones(3,1);
k1 = 300*ones(3,1);
k2 = [-200;-200;201];
k3 = 1*ones(3,1);
bzy(k) = ((by(k)-k0(2))/k1(2)).^(k3(2)) - k2(2);
else
k0 = [0;0;0];
k1 = [230;230;230];
k2 = [0;0;1];
k3 = [20;20;20];
bzy(k) = ((by(k)-k0(2))/k1(2)).^(k3(2)) - k2(2);
end
end
elseif bf == 5
bx = 0:0.1:2000;
by = 0:0.1:2000;
bzx = zeros(1,20001);
bzy = zeros(1,20001);
for j = 1:width(bx)
if bx(j) > 1000
k0 = -1000*ones(3,1);
k1 = 300*ones(3,1);
k2 = [-1500;-1500;1501];
k3 = ones(3,1);
bzx(j) = ((bx(j)-k0(1))/k1(1)).^(k3(1)) - k2(1);
elseif ((bx(j) <= 1000) && (bx(j) > 600))
k0 = 600*ones(3,1);
k1 = 142*ones(3,1);
k2 = [-1000;-1000;1001];
k3 = 6*ones(3,1);
bzx(j) = ((bx(j)-k0(1))/k1(1)).^(k3(1)) - k2(1);
else
k0 = zeros(3,1);
k1 = 426*ones(3,1);
k2 = zeros(3,1);
k3 = 20*ones(3,1);
bzx(j) = ((bx(j)-k0(1))/k1(1)).^(k3(1)) - k2(1);
end
end
for j = 1:width(by)
if by(j) > 1000
k0 = -1000*ones(3,1);
k1 = 300*ones(3,1);
k2 = [-1500;-1500;1501];
k3 = ones(3,1);
bzy(j) = ((by(j)-k0(2))/k1(2)).^(k3(2)) - k2(2);
elseif ((by(j) <= 1000) && (by(j) > 600))
k0 = 600*ones(3,1);
k1 = 142*ones(3,1);
k2 = [-1000;-1000;1001];
k3 = 6*ones(3,1);
bzy(j) = ((by(j)-k0(2))/k1(2)).^(k3(2)) - k2(2);
else
k0 = zeros(3,1);
k1 = 426*ones(3,1);
k2 = zeros(3,1);
k3 = 20*ones(3,1);
bzy(j) = ((by(j)-k0(2))/k1(2)).^(k3(2)) - k2(2);
end
end
end
figure(5)
xlabel('x (m)', 'FontSize', 14)
ylabel('z (m)', 'FontSize', 14)
plot(x(:,1),x(:,3), 'LineWidth', 1)
hold on
plot(x(1,1),x(1,3),'ks')
hold on
plot(x(N,1),x(N,3),'ro')
hold on
plot(-bx, bzx, '--');
hold on
plot(bx, bzx, '--');
hold on
grid on
figure(6)
xlabel('y (m)', 'FontSize', 14)
ylabel('z (m)', 'FontSize', 14)
plot(x(:,2),x(:,3), 'LineWidth', 1)
hold on
plot(x(1,2),x(1,3),'ks')
hold on
plot(x(N,2),x(N,3),'ro')
hold on
plot(by, bzy, '--');
hold on
plot(-by, bzy, '--');
hold on
grid on
del_m(i) = x(1,7) - x(N-1,7);
end
figure(7)
xlabel('Test Case #')
ylabel('\Deltam')
scatter(1:length(IC),del_m, 'LineWidth', 1);
hold on
grid on
mu = mean(del_m);
disp(['mu = ', num2str(mu)]);
sd = std(del_m);
disp(['sd = ', num2str(sd)]);
end
toc