MRPTracking Class Reference

#include <MRPTracking.h>

Inheritance diagram for MRPTracking:

[legend]Collaboration diagram for MRPTracking:

[legend]List of all members.


Public Member Functions
	MRPTracking ()
	Constructor.
	MRPTracking (Whorl *ptr_whorl)
	Constructor.
virtual	~MRPTracking ()
	Destructor.
int	Initialize ()
	Initializes the default controller.
int	Run ()
	Runs the MRP tracking controller, which is a Lyapunov based control law that tracks the attitude.
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.
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
Matrix	m_gainMatrix
	Member matrix value that is the angular rate Gain Matrix for the tracking control law.
double	m_mrpGain
	Member scalar value that is the MRP Gain for the tracking control law.
double	m_previousTime
	Member scalar value that keeps track of the previous time. Needed by reference model.
Vector	m_controlTorque
	Member value that is the control torque vector determined from control law.
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.

Constructor & Destructor Documentation

MRPTracking::MRPTracking ( )

Constructor.

Definition at line 16 of file MRPTracking.cpp.

MRPTracking::MRPTracking ( Whorl * ptr_whorl )

Constructor.

Parameters:

ptr_whorl is a pointer to the whorl object.

Definition at line 20 of file MRPTracking.cpp.
References Initialize().

MRPTracking::~MRPTracking ( ) [virtual]

Destructor.

Definition at line 30 of file MRPTracking.cpp.

Member Function Documentation

Matrix Controller::FindA ( ) [inherited]

Facilitators Determines the A matrix for the momentum wheels.

Definition at line 39 of file Controller.cpp.
References Whorl::GetMomentumWheel(), MomentumWheel::GetWheelAxis(), MomentumWheel::GetWheelCount(), Controller::m_whorl, O_SESSAME::Matrix, and O_SESSAME::Vector.
Referenced by Controller::Controller(), testController::Initialize(), slidingModeControlMRPMW::Initialize(), MWCMGController::Initialize(), Initialize(), DefaultController::Initialize(), and AngularRateController::Initialize().

Matrix Controller::FindMOI_sw ( ) [inherited]

Determines the MOI of the momentum wheels.

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

int MRPTracking::Initialize ( ) [virtual]

Initializes the default controller.

Implements Controller.
Definition at line 34 of file MRPTracking.cpp.
References Controller::FindA(), Controller::FindMOI_sw(), Whorl::GetMOI(), O_SESSAME::ssfTime::GetSeconds(), CAMdoubleMatrix::initialize(), CAMdoubleVector::initialize(), Controller::m_angularRateReference, m_controlTorque, m_gainMatrix, m_mrpGain, m_previousTime, Controller::m_quaternionReference, and O_SESSAME::Matrix.
Referenced by MRPTracking().

void Controller::ReferenceModelSC ( ssfTime deltaTime ) [inherited]

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(), Controller::m_angularAccelReference, Controller::m_angularRateReference, Controller::m_mrpReference, Controller::m_quaternionReference, Controller::m_whorl, O_SESSAME::Matrix, NullFunctor(), O_SESSAME::RungeKuttaIntegrator::SetNumSteps(), O_SESSAME::ModifiedRodriguezParameters::Switch(), and O_SESSAME::Vector.

void Controller::ReferenceTrajectory ( ssfTime deltaTime ) [inherited]

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

int MRPTracking::Run ( ) [virtual]

Runs the MRP tracking controller, which is a Lyapunov based control law that tracks the attitude.

Implements Controller.
Definition at line 75 of file MRPTracking.cpp.
References Controller::A, O_SESSAME::Rotation::GetDCM(), Whorl::GetMOI(), Whorl::GetMomentumWheel(), Whorl::GetMRP(), Whorl::GetOmegaBL(), O_SESSAME::ssfTime::GetSeconds(), MomentumWheel::GetWheelSpeed(), m_controlTorque, m_mrpGain, O_SESSAME::Matrix, Controller::MOI_sw, Controller::ReferenceTrajectory(), Whorl::SetAngularRateError(), Whorl::SetControl(), Whorl::SetMRPError(), Whorl::SetReferenceOmegaBL(), Whorl::SetReferenceQuaternion(), Controller::SetWheelTorque(), O_SESSAME::skew(), O_SESSAME::ModifiedRodriguezParameters::Switch(), O_SESSAME::Vector, and Controller::WheelSaturation().

Vector Controller::Saturation ( Vector _s,

Vector _phi

) [inherited]

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

int Controller::SetThrusterTorque ( char Thruster_set,

int Number_of_Pulses,

double Pulse_length

) [inherited]

Sets the torque produced by the thrusters.

Definition at line 104 of file Controller.cpp.

int Controller::SetWheelTorque ( Vector ControlTorque ) [inherited]

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(), Controller::m_whorl, MomentumWheel::SetWheelTorque(), and O_SESSAME::Vector.
Referenced by testController::Run(), slidingModeControlMRPMW::Run(), SingleAxisController::Run(), OpenLoopMWController::Run(), MWCMGController::Run(), Run(), DefaultController::Run(), and AngularRateController::Run().

Vector Controller::Sign ( Vector _s ) [inherited]

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

double Controller::SignSingle ( double _s ) [inherited]

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

Vector Controller::WheelSaturation ( Vector _u ) [inherited]

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 Controller::m_uMax, Controller::SignSingle(), and O_SESSAME::Vector.
Referenced by testController::Run(), slidingModeControlMRPMW::Run(), Run(), DefaultController::Run(), and AngularRateController::Run().

Member Data Documentation

Matrix Controller::A [protected, inherited]

Member matrix in Controller Class that provides the orientation of the momentum wheels.

Definition at line 102 of file Controller.h.
Referenced by Controller::Controller(), slidingModeControlMRPMW::Run(), Run(), DefaultController::Run(), and AngularRateController::Run().

Vector Controller::m_angularAccelReference [protected, inherited]

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::Controller(), Controller::ReferenceModelSC(), and Controller::ReferenceTrajectory().

Vector Controller::m_angularRateReference [protected, inherited]

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::Controller(), testController::Initialize(), slidingModeControlMRPMW::Initialize(), Initialize(), DefaultController::Initialize(), AngularRateController::Initialize(), Controller::ReferenceModelSC(), and Controller::ReferenceTrajectory().

Vector MRPTracking::m_controlTorque [protected]

Member value that is the control torque vector determined from control law.

Definition at line 56 of file MRPTracking.h.
Referenced by Initialize(), and Run().

Matrix MRPTracking::m_gainMatrix [protected]

Member matrix value that is the angular rate Gain Matrix for the tracking control law.

Definition at line 46 of file MRPTracking.h.
Referenced by Initialize().

double MRPTracking::m_mrpGain [protected]

Member scalar value that is the MRP Gain for the tracking control law.

Definition at line 49 of file MRPTracking.h.
Referenced by Initialize(), and Run().

Vector Controller::m_mrpReference [protected, inherited]

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::Controller(), Controller::ReferenceModelSC(), and Controller::ReferenceTrajectory().

double MRPTracking::m_previousTime [protected]

Member scalar value that keeps track of the previous time. Needed by reference model.

Definition at line 52 of file MRPTracking.h.
Referenced by Initialize().

Vector Controller::m_quaternionReference [protected, inherited]

Member vector in Controller Class that is the quaternion of the reference model.

Definition at line 115 of file Controller.h.
Referenced by Controller::Controller(), testController::Initialize(), slidingModeControlMRPMW::Initialize(), Initialize(), DefaultController::Initialize(), AngularRateController::Initialize(), Controller::ReferenceModelSC(), and Controller::ReferenceTrajectory().

double Controller::m_uMax [protected, inherited]

Member double in Controller Class that is the max wheel control torque.

Definition at line 121 of file Controller.h.
Referenced by Controller::WheelSaturation().

Whorl* Controller::m_whorl [protected, inherited]

Member object in Controller Class.

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

Matrix Controller::MOI_sw [protected, inherited]

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::Controller(), slidingModeControlMRPMW::Run(), Run(), DefaultController::Run(), and AngularRateController::Run().

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

Generated on Wed Sep 5 12:54:41 2007 for DSACSS Operational Code by

1.3.9.1

MRPTracking Class Reference

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation