MWCMGController Class Reference

#include <MWCMGController.h>

Inheritance diagram for MWCMGController:

[legend]Collaboration diagram for MWCMGController:

[legend]List of all members.


Public Member Functions
	MWCMGController ()
	Constructors.
	MWCMGController (Whorl *ptr_whorl)
virtual	~MWCMGController ()
	Destructor.
int	Run ()
int	Initialize ()
double *	tlu (double curtime)
int	LoadLUT (char *filename)
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
Vector	m_controlTorque
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.
Private Attributes
timeval	InitialTime
timeval	RunTime
timeval	CurrentTime
Vector	MRPcurrent
Vector	MRPRef
Vector	omegaRef
Vector	Qcurrent
Matrix	RBR
Vector	dMRP
Vector	domega
double **	lut
double *	myRow
double	SIGMA

Constructor & Destructor Documentation

MWCMGController::MWCMGController ( )

Constructors.

MWCMGController::MWCMGController ( Whorl * ptr_whorl ) [inline]

Definition at line 28 of file MWCMGController.h.
References Initialize().

virtual MWCMGController::~MWCMGController ( ) [inline, virtual]

Destructor.

Definition at line 34 of file MWCMGController.h.

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(), Initialize(), MRPTracking::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(), Initialize(), MRPTracking::Initialize(), DefaultController::Initialize(), and AngularRateController::Initialize().

int MWCMGController::Initialize ( ) [virtual]

Initializes the default controller
Implements Controller.
Definition at line 17 of file MWCMGController.cpp.
References Controller::FindA(), Controller::FindMOI_sw(), InitialTime, LoadLUT(), m_gainMatrix, and O_SESSAME::Matrix.
Referenced by MWCMGController().

int MWCMGController::LoadLUT ( char * filename )

Load the lookup table.
Definition at line 235 of file MWCMGController.cpp.
References lut.
Referenced by Initialize().

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(), MRPTracking::Run(), and AngularRateController::Run().

int MWCMGController::Run ( ) [virtual]

Runs the default controller
Implements Controller.
Definition at line 39 of file MWCMGController.cpp.
References CurrentTime, dMRP, domega, Whorl::GetMOI(), Whorl::GetMomentumWheel(), Whorl::GetOmegaBL(), Whorl::GetQuaternion(), MomentumWheel::GetWheelSpeed(), InitialTime, m_controlTorque, O_SESSAME::Matrix, MRPcurrent, MRPRef, myRow, O_SESSAME::norm2(), omegaRef, Qcurrent, RBR, RunTime, Whorl::SetControl(), Controller::SetWheelTorque(), SIGMA, O_SESSAME::skew(), tlu(), and O_SESSAME::Vector.

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(), Run(), MRPTracking::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().

double * MWCMGController::tlu ( double curtime )

Lookup a line in the lookup table.
Definition at line 192 of file MWCMGController.cpp.
References lut.
Referenced by Run().

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(), MRPTracking::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(), MRPTracking::Run(), DefaultController::Run(), and AngularRateController::Run().

struct timeval MWCMGController::CurrentTime [private]

Definition at line 57 of file MWCMGController.h.
Referenced by Run().

Vector MWCMGController::dMRP [private]

Definition at line 63 of file MWCMGController.h.
Referenced by Run().

Vector MWCMGController::domega [private]

Definition at line 64 of file MWCMGController.h.
Referenced by Run().

struct timeval MWCMGController::InitialTime [private]

Definition at line 55 of file MWCMGController.h.
Referenced by Initialize(), and Run().

double** MWCMGController::lut [private]

Definition at line 65 of file MWCMGController.h.
Referenced by LoadLUT(), and tlu().

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

Vector MWCMGController::m_controlTorque [protected]

Definition at line 51 of file MWCMGController.h.
Referenced by Run().

Matrix MWCMGController::m_gainMatrix [protected]

Definition at line 50 of file MWCMGController.h.
Referenced by Initialize().

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().

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(), MRPTracking::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(), MRPTracking::Run(), DefaultController::Run(), and AngularRateController::Run().

Vector MWCMGController::MRPcurrent [private]

Definition at line 58 of file MWCMGController.h.
Referenced by Run().

Vector MWCMGController::MRPRef [private]

Definition at line 59 of file MWCMGController.h.
Referenced by Run().

double* MWCMGController::myRow [private]

Definition at line 66 of file MWCMGController.h.
Referenced by Run().

Vector MWCMGController::omegaRef [private]

Definition at line 60 of file MWCMGController.h.
Referenced by Run().

Vector MWCMGController::Qcurrent [private]

Definition at line 61 of file MWCMGController.h.
Referenced by Run().

Matrix MWCMGController::RBR [private]

Definition at line 62 of file MWCMGController.h.
Referenced by Run().

struct timeval MWCMGController::RunTime [private]

Definition at line 56 of file MWCMGController.h.
Referenced by Run().

double MWCMGController::SIGMA [private]

Definition at line 67 of file MWCMGController.h.
Referenced by 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

MWCMGController Class Reference

Public Member Functions

Protected Attributes

Private Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation