Kontrol

An exploration of control theory, using Kerbal Space Program.

EXAMPLES

All examples require these mods to be added to Kerbal Space Program.

• kRPC

"Samara" Series

The Samara vehicle is about as simple as possible -- an engine, tankage, legs, and a control core.

Samara-1

mix run examples/samara/samara-1.exs

• test throttle control
• test load sensing on legs

Samara-2

mix run examples/samara/samara-2.exs

• test throttle control
  • surface altitude to 10 meters
  • coast to max altitude (vertical velocity == 0 m/s)
  • hover for 10 seconds
  • descend at 1 m/s until landed

Samara-3

mix run examples/samara/samara-3.exs

• test PID controller on throttle
  • surface altitude to 10 meters
  • coast to max altitude (vertical velocity == 0 m/s)
  • set controller setpoint to 10 meters
  • loop until surface altitude is at setpoint and vertical velocity == 0 m/s
  • hover for 10 seconds
  • set controller setpoint to 50 meters
  • loop until surface altitude is at setpoint and vertical velocity == 0 m/s
  • hover for 10 seconds
  • set controller setpoint to 20 meters
  • loop until surface altitude is at setpoint and vertical velocity == 0 m/s
  • hover for 10 seconds
  • descend at 1 m/s until landed

Samara-(n)

• test inertial navigation system
• telemetry:
  • velocity vector
  • direction vector
  • heading (0..360)
  • pitch (-90..90)
  • roll (-180..180)

"Hadi" Series

The Hadi vehicle is an upgrade to Samara, adding three RCS thruster blocks and a monopropellant tank.