00001 ////////////////////////////////////////////////////////////////////////////////////////////////// 00002 /*! \file Controller.h 00003 * \brief The Controller class is an abstract class, all controllers will be derived from it. 00004 * It is derived from the Algorithm Class. 00005 * \author $Author: jayhawk_hokie $ 00006 * \version $Revision: 1.10 $ 00007 * \date $Date: 2007/07/24 09:26:11 $ 00008 *////////////////////////////////////////////////////////////////////////////////////////////////// 00009 /*! 00010 */ 00011 ////////////////////////////////////////////////////////////////////////////////////////////////// 00012 00013 00014 #ifndef __SSSL_CONTROLER_H__ 00015 #define __SSSL_CONTROLER_H__ 00016 00017 #include <Base/Whorl.h> 00018 00019 #include <vector.h> 00020 00021 #include "attitude/Attitude.h" 00022 #include "attitude/AttitudeState.h" 00023 #include "attitude/AttitudeModels/QuaternionAngVelDynamics.h" 00024 #include "attitude/AttitudeModels/AttitudeModels.h" 00025 00026 #include "rotation/Rotation.h" 00027 00028 #include "utils/RungeKuttaIntegrator.h" 00029 00030 #include <Utils/matrixFunctionInterface.h> 00031 00032 using namespace std; 00033 using namespace O_SESSAME; 00034 00035 00036 Vector NullFunctor( const ssfTime& _pSSFTime, const OrbitState& _pOrbitState, const AttitudeState& _pAttitudeState ); 00037 00038 Vector AttitudeTrajectory(const ssfTime &_time, const Vector& _state, Orbit *_Orbit, Attitude *_Attitude, const Matrix &_parameters, const Functor &_torqueFuncPtr); 00039 00040 class Controller { 00041 public: 00042 00043 /** Constructors */ 00044 Controller( ); 00045 Controller( Whorl* ptr_whorl ); 00046 00047 /** Destructors */ 00048 virtual ~Controller( ); 00049 00050 /** Facilitators */ 00051 00052 /** Mutators */ 00053 00054 /*! \brief Set the torque produced by the momentum wheels 00055 * @param ControlTorque a 3 x 1 vector representing the desired control torque in N-m 00056 */ 00057 int SetWheelTorque(Vector ControlTorque); 00058 00059 /*! \brief Sets the torque produced by the thrusters */ 00060 int SetThrusterTorque( char Thruster_set, int Number_of_Pulses,double Pulse_length); 00061 00062 /*! \brief Runs the controller (pure virtual function) */ 00063 virtual int Run() = 0; 00064 00065 /*! \brief Initializes the controller (pure virtual function) */ 00066 virtual int Initialize() = 0; 00067 00068 /** Facilitators */ 00069 00070 /*! \brief Determines the A matrix for the momentum wheels */ 00071 Matrix FindA(); 00072 00073 /*! \brief Determines the MOI of the momentum wheels */ 00074 Matrix FindMOI_sw(); 00075 00076 /*! \brief Create a spacecraft reference model based on the quaternion kinematic equation 00077 * and Euler Rotational Equation of Motion. The quaternion and angular rates are numerically 00078 * integrated. 00079 * @param deltaTime is a ssfTime variable that change in time of the reference model. 00080 */ 00081 void ReferenceModelSC( ssfTime deltaTime ); 00082 00083 void ReferenceTrajectory( ssfTime deltaTime ); 00084 00085 Vector Saturation( Vector _s, Vector _phi ); 00086 00087 Vector Sign( Vector _s ); 00088 00089 double SignSingle( double _s ); 00090 00091 /*! \brief Actuator Saturation function for the reaction wheels. Max toruqe is set with m_uMax. 00092 * @param _u input control torque vector 00093 */ 00094 Vector WheelSaturation( Vector _u ); 00095 00096 protected: 00097 00098 /*! \brief Member object in Controller Class */ 00099 Whorl* m_whorl; 00100 00101 /*! \brief Member matrix in Controller Class that provides the orientation of the momentum wheels */ 00102 Matrix A; 00103 00104 /*! \brief Member matrix in Controller Class that is a diagonal matrix with the MOI of the momentum 00105 * wheels as its memebers */ 00106 Matrix MOI_sw; 00107 00108 /*! \brief Member vector in Controller Class that is the angular rates of the reference model. */ 00109 Vector m_angularRateReference; 00110 00111 /*! \brief Member vector in Controller Class that is the angular acceleration of the reference model. */ 00112 Vector m_angularAccelReference; 00113 00114 /*! \brief Member vector in Controller Class that is the quaternion of the reference model. */ 00115 Vector m_quaternionReference; 00116 00117 /*! \brief Member vector in Controller Class that is the MRP's of the reference model. */ 00118 Vector m_mrpReference; 00119 00120 /*! \brief Member double in Controller Class that is the max wheel control torque. */ 00121 double m_uMax; 00122 }; 00123 00124 #endif 00125 00126 // Do not change the comments below - they will be added automatically by CVS 00127 /***************************************************************************** 00128 * $Log: Controller.h,v $ 00129 * Revision 1.10 2007/07/24 09:26:11 jayhawk_hokie 00130 * Added attitude reference models. 00131 * 00132 * Revision 1.9 2007/05/23 22:18:10 jayhawk_hokie 00133 * Implemented spacecraft reference model. 00134 * 00135 * Revision 1.8 2005/02/25 18:40:52 cakinli 00136 * Created Makefiles and organized include directives to reduce the number of 00137 * include paths. Reorganized libraries so that there is now one per source 00138 * directory. Each directory is self-contained in terms of its Makefile. 00139 * The local Makefile in each directory includes src/config.mk, which has all 00140 * the definitions and general and pattern rules. So at most, to see what 00141 * goes into building a target, a person needs to examine the Makefile in 00142 * that directory, and ../config.mk. 00143 * 00144 * Revision 1.7 2003/08/13 23:16:57 mavandyk 00145 * Altered structure as outline in meeting. 00146 * 00147 * Revision 1.6 2003/08/06 21:47:18 mavandyk 00148 * Updated comments and notation and fixed class structure. 00149 * 00150 * Revision 1.5 2003/08/01 11:19:23 mavandyk 00151 * Changed the class structure, and fixed bugs. 00152 * 00153 * Revision 1.4 2003/07/31 20:21:19 mavandyk 00154 * Changed functions to represent new class structure, and added more comments. 00155 * 00156 * Revision 1.3 2003/07/07 14:10:52 simpliciter 00157 * Added log blocks. 00158 * 00159 * 00160 * 00161 ******************************************************************************/
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