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a/compte_rendu/compte_rendu.tex b/compte_rendu/compte_rendu.tex index 4a52cf6..6916e64 100644 --- a/compte_rendu/compte_rendu.tex +++ b/compte_rendu/compte_rendu.tex @@ -1,6 +1,7 @@ \documentclass[]{report} \usepackage[utf8]{inputenc} \usepackage[T1]{fontenc} +\usepackage{tikz} \usepackage[french]{babel} \usepackage{geometry} % Required for adjusting page dimensions @@ -15,6 +16,15 @@ %showframe, % Uncomment to show how the type block is set on the page } + +\usetikzlibrary{shapes,arrows} +\tikzstyle{block} = [draw, fill=blue!20, rectangle, +minimum height=3em, minimum width=6em] +\tikzstyle{sum} = [draw, fill=blue!20, circle, node distance=1cm] +\tikzstyle{input} = [coordinate] +\tikzstyle{output} = [coordinate] +\tikzstyle{pinstyle} = [pin edge={to-,thin,black}] + % Title Page \title{Projet double :\\ Asservissement "rigide" de drone} \author{Joanne \bsc{Steiner}, Hugo \bsc{Levy-{}-Falk}} @@ -41,4 +51,60 @@ Le projet comportera les étapes suivantes : \item Etape 2 : Mesures et établissement de la fonction de transfert du drone nous permettant d'estimer le meilleur correcteur à appliquer \item Etape 3 : Choix du correcteur et tests de ce dernier \end{itemize} + +\chapter{Modélisation du problème} + +Le drone diffuse un flux optique, qui permet de calculer sa position vis-à-vis d'une cible. On peut donc dans un premier temps modéliser l'asservissement de cette manière : + +\begin{figure}[h!] +\centering +\begin{tikzpicture}[auto, node distance=2cm,>=latex'] +% We start by placing the blocks +\node [input, name=input] {}; +\node [sum, right of=input, node distance=3cm] (sum) {}; +\node [block, right of=sum] (controller) {Correcteur}; +\node [block, right of=controller, +node distance=3cm] (system) {Drone}; +% We draw an edge between the controller and system block to +% calculate the coordinate u. We need it to place the measurement block. +\draw [->] (controller) -- node[name=u] {$u$} (system); +\node [output, right of=system, node distance=5cm] (output) {}; +\node [block, below of=u] (measurements) {Mesure}; + +% Once the nodes are placed, connecting them is easy. +\draw [draw,->] (input) -- node {position attendue} (sum); +\draw [->] (sum) -- node {$\epsilon$} (controller); +\draw [->] (system) -- node [name=y] {position réelle du drone}(output); +\draw [->] (y) |- (measurements); +\draw [->] (measurements) -| node[pos=0.99] {$-$} +node [near end] {mesure de la position} (sum); +\end{tikzpicture} +\caption{Modélisation simple de l'asservissement} +\end{figure} + +La mesure peut se décomposer en trois éléments : + +\begin{figure}[h!] + \centering + \begin{tikzpicture}[auto, node distance=3cm,>=latex'] + % We start by placing the blocks + \node [input, name=input] {}; + \node [block, right of=input] (cam) {Caméra}; + \node [block, right of=cam] (transm) {Transmission}; + \node [block, right of=transm] (trait) {Traitement}; + \node [output, right of=system] (output) {}; + % We draw an edge between the controller and system block to + % calculate the coordinate u. We need it to place the measurement block. + \draw [->] (input) -- (cam); + \draw [->] (cam) -- (transm); + \draw [->] (transm) -- (trait); + \draw [->] (trait) -- (output); + \end{tikzpicture} + \caption{Décomposition de la mesure} +\end{figure} + +Comme le traitement ne se fait pas directement sur le drone, il existe des retards aléatoires dûs au temps de transit sur le réseau, ainsi qu'au temps de calcul sur le poste de contrôle. Ces retards limitent la fréquence des mesures à environ 5Hz. + + + \end{document}