Controller Class Reference

#include <Controller.h>

Inheritance diagram for Controller:

[legend]Collaboration diagram for Controller:

[legend]List of all members.

Public Member Functions
	Controller ()
	Constructors.
	Controller (Whorl *ptr_whorl)
virtual	~Controller ()
	Destructors.
int	SetWheelTorque (Vector ControlTorque)
	Mutators Set the torque produced by the momentum wheels.
int	SetThrusterTorque (char Thruster_set, int Number_of_Pulses, double Pulse_length)
	Sets the torque produced by the thrusters.
virtual int	Run ()=0
	Runs the controller (pure virtual function).
virtual int	Initialize ()=0
	Initializes the controller (pure virtual function).
Matrix	FindA ()
	Facilitators Determines the A matrix for the momentum wheels.
Matrix	FindMOI_sw ()
	Determines the MOI of the momentum wheels.
void	ReferenceModelSC (ssfTime deltaTime)
	Create a spacecraft reference model based on the quaternion kinematic equation and Euler Rotational Equation of Motion. The quaternion and angular rates are numerically integrated.
void	ReferenceTrajectory (ssfTime deltaTime)
Vector	Saturation (Vector _s, Vector _phi)
Vector	Sign (Vector _s)
double	SignSingle (double _s)
Vector	WheelSaturation (Vector _u)
	Actuator Saturation function for the reaction wheels. Max toruqe is set with m_uMax.
Protected Attributes
Whorl *	m_whorl
	Member object in Controller Class.
Matrix	A
	Member matrix in Controller Class that provides the orientation of the momentum wheels.
Matrix	MOI_sw
	Member matrix in Controller Class that is a diagonal matrix with the MOI of the momentum wheels as its memebers.
Vector	m_angularRateReference
	Member vector in Controller Class that is the angular rates of the reference model.
Vector	m_angularAccelReference
	Member vector in Controller Class that is the angular acceleration of the reference model.
Vector	m_quaternionReference
	Member vector in Controller Class that is the quaternion of the reference model.
Vector	m_mrpReference
	Member vector in Controller Class that is the MRP's of the reference model.
double	m_uMax
	Member double in Controller Class that is the max wheel control torque.

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Constructor & Destructor Documentation

Controller::Controller (   )

Constructors. Definition at line 14 of file Controller.cpp. References CAMdoubleVector::initialize(), m_angularAccelReference, m_angularRateReference, m_mrpReference, and m_quaternionReference.

Controller::Controller (  Whorl *  ptr_whorl  )

Definition at line 22 of file Controller.cpp. References A, FindA(), FindMOI_sw(), CAMdoubleVector::initialize(), m_angularAccelReference, m_angularRateReference, m_mrpReference, m_quaternionReference, m_whorl, and MOI_sw.

Controller::~Controller (   )  [virtual]

Destructors. Definition at line 35 of file Controller.cpp.

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Member Function Documentation

Matrix Controller::FindA (   )

Facilitators Determines the A matrix for the momentum wheels. Definition at line 39 of file Controller.cpp. References Whorl::GetMomentumWheel(), MomentumWheel::GetWheelAxis(), MomentumWheel::GetWheelCount(), m_whorl, O_SESSAME::Matrix, and O_SESSAME::Vector. Referenced by Controller(), testController::Initialize(), slidingModeControlMRPMW::Initialize(), MWCMGController::Initialize(), MRPTracking::Initialize(), DefaultController::Initialize(), and AngularRateController::Initialize().

Matrix Controller::FindMOI_sw (   )

Determines the MOI of the momentum wheels. Definition at line 63 of file Controller.cpp. References MomentumWheel::GetAxialInertia(), Whorl::GetMomentumWheel(), MomentumWheel::GetWheelCount(), m_whorl, and O_SESSAME::Matrix. Referenced by Controller(), testController::Initialize(), slidingModeControlMRPMW::Initialize(), MWCMGController::Initialize(), MRPTracking::Initialize(), DefaultController::Initialize(), and AngularRateController::Initialize().

virtual int Controller::Initialize (   )  [pure virtual]

Initializes the controller (pure virtual function). Implemented in AngularRateController, DefaultController, MRPTracking, MWCMGController, OpenLoopMWController, SingleAxisController, slidingModeControlMRPMW, and testController.

void Controller::ReferenceModelSC (  ssfTime  deltaTime  )

Create a spacecraft reference model based on the quaternion kinematic equation and Euler Rotational Equation of Motion. The quaternion and angular rates are numerically integrated. Parameters: deltaTime  is a ssfTime variable that change in time of the reference model. Definition at line 109 of file Controller.cpp. References _, AttituteDynamics_QuaternionAngVel(), Whorl::GetMOI(), O_SESSAME::ssfTime::GetSeconds(), O_SESSAME::RungeKuttaIntegrator::Integrate(), m_angularAccelReference, m_angularRateReference, m_mrpReference, m_quaternionReference, m_whorl, O_SESSAME::Matrix, NullFunctor(), O_SESSAME::RungeKuttaIntegrator::SetNumSteps(), O_SESSAME::ModifiedRodriguezParameters::Switch(), and O_SESSAME::Vector.

void Controller::ReferenceTrajectory (  ssfTime  deltaTime  )

Definition at line 167 of file Controller.cpp. References _, AttitudeTrajectory(), Whorl::GetMOI(), O_SESSAME::ssfTime::GetSeconds(), O_SESSAME::RungeKuttaIntegrator::Integrate(), m_angularAccelReference, m_angularRateReference, m_mrpReference, m_quaternionReference, m_whorl, O_SESSAME::Matrix, NullFunctor(), O_SESSAME::RungeKuttaIntegrator::SetNumSteps(), O_SESSAME::ModifiedRodriguezParameters::Switch(), and O_SESSAME::Vector. Referenced by slidingModeControlMRPMW::Run(), MRPTracking::Run(), and AngularRateController::Run().

virtual int Controller::Run (   )  [pure virtual]

Runs the controller (pure virtual function). Implemented in AngularRateController, DefaultController, MRPTracking, MWCMGController, OpenLoopMWController, SingleAxisController, slidingModeControlMRPMW, and testController.

Vector Controller::Saturation (  Vector  _s, Vector  _phi )

Definition at line 273 of file Controller.cpp. References SignSingle(), and O_SESSAME::Vector. Referenced by slidingModeControlMRPMW::Run().

int Controller::SetThrusterTorque (  char  Thruster_set, int  Number_of_Pulses, double  Pulse_length )

Sets the torque produced by the thrusters. Definition at line 104 of file Controller.cpp.

int Controller::SetWheelTorque (  Vector  ControlTorque  )

Mutators Set the torque produced by the momentum wheels. Parameters: ControlTorque  a 3 x 1 vector representing the desired control torque in N-m Definition at line 84 of file Controller.cpp. References Whorl::GetMomentumWheel(), MomentumWheel::GetWheelCount(), m_whorl, MomentumWheel::SetWheelTorque(), and O_SESSAME::Vector. Referenced by testController::Run(), slidingModeControlMRPMW::Run(), SingleAxisController::Run(), OpenLoopMWController::Run(), MWCMGController::Run(), MRPTracking::Run(), DefaultController::Run(), and AngularRateController::Run().

Vector Controller::Sign (  Vector  _s  )

Definition at line 291 of file Controller.cpp. References SignSingle(), and O_SESSAME::Vector.

double Controller::SignSingle (  double  _s  )

Definition at line 323 of file Controller.cpp. Referenced by Saturation(), Sign(), and WheelSaturation().

Vector Controller::WheelSaturation (  Vector  _u  )

Actuator Saturation function for the reaction wheels. Max toruqe is set with m_uMax. Parameters: _u  input control torque vector Definition at line 303 of file Controller.cpp. References m_uMax, SignSingle(), and O_SESSAME::Vector. Referenced by testController::Run(), slidingModeControlMRPMW::Run(), MRPTracking::Run(), DefaultController::Run(), and AngularRateController::Run().

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Member Data Documentation

Matrix Controller::A [protected]

Member matrix in Controller Class that provides the orientation of the momentum wheels. Definition at line 102 of file Controller.h. Referenced by Controller(), slidingModeControlMRPMW::Run(), MRPTracking::Run(), DefaultController::Run(), and AngularRateController::Run().

Vector Controller::m_angularAccelReference [protected]

Member vector in Controller Class that is the angular acceleration of the reference model. Definition at line 112 of file Controller.h. Referenced by Controller(), ReferenceModelSC(), and ReferenceTrajectory().

Vector Controller::m_angularRateReference [protected]

Member vector in Controller Class that is the angular rates of the reference model. Definition at line 109 of file Controller.h. Referenced by Controller(), testController::Initialize(), slidingModeControlMRPMW::Initialize(), MRPTracking::Initialize(), DefaultController::Initialize(), AngularRateController::Initialize(), ReferenceModelSC(), and ReferenceTrajectory().

Vector Controller::m_mrpReference [protected]

Member vector in Controller Class that is the MRP's of the reference model. Definition at line 118 of file Controller.h. Referenced by Controller(), ReferenceModelSC(), and ReferenceTrajectory().

Vector Controller::m_quaternionReference [protected]

Member vector in Controller Class that is the quaternion of the reference model. Definition at line 115 of file Controller.h. Referenced by Controller(), testController::Initialize(), slidingModeControlMRPMW::Initialize(), MRPTracking::Initialize(), DefaultController::Initialize(), AngularRateController::Initialize(), ReferenceModelSC(), and ReferenceTrajectory().

double Controller::m_uMax [protected]

Member double in Controller Class that is the max wheel control torque. Definition at line 121 of file Controller.h. Referenced by WheelSaturation().

Whorl* Controller::m_whorl [protected]

Member object in Controller Class. Definition at line 99 of file Controller.h. Referenced by Controller(), FindA(), FindMOI_sw(), ReferenceModelSC(), ReferenceTrajectory(), and SetWheelTorque().

Matrix Controller::MOI_sw [protected]

Member matrix in Controller Class that is a diagonal matrix with the MOI of the momentum wheels as its memebers. Definition at line 106 of file Controller.h. Referenced by Controller(), slidingModeControlMRPMW::Run(), MRPTracking::Run(), DefaultController::Run(), and AngularRateController::Run().

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The documentation for this class was generated from the following files:

• Controller.h
• Controller.cpp

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