Semi-active Damper

Example

SemiActiveDamper/

Problem Description

A vehicle contacts the wall through the spring and damper:

• The state vector of the system is $x=[y,\dot{y}]^T$, where $y$ is the position of the vehicle.

• The input is the damping coefficient $d$, which is constrained with $0\leq d \leq 1$.

• The dynamic equation of this semi-active damper is $m\ddot{y} = -ky-d\dot{y}$, where $k = 1$ and $m=1$.

The task is to control the vehicle's position $y$ to 0 from an initial position.

Closed-loop Simulation using ParNMPC

Step 1. NMPC problem formulation

See Workflow of ParNMPC > NMPC Problem Formulation.

Example

SemiActiveDamper/NMPC_Problem_Formulation.m

Step 2. Code generation and deployment in Simulink

See Workflow of ParNMPC > Code Generation and Deployment > Simulink.

1. Code generation

   Example

   SemiActiveDamper/Simu_Simulink_Setup.m

2. Deployment

   Example

   SemiActiveDamper/Simu_Simulink.slx