slidingModeControlMRPMW Class Reference

#include <slidingModeControlMRPMW.h>

Inheritance diagram for slidingModeControlMRPMW:

[legend]Collaboration diagram for slidingModeControlMRPMW:

[legend]List of all members.


Public Member Functions
	slidingModeControlMRPMW ()
	Constructors.
	slidingModeControlMRPMW (Whorl *ptr_whorl)
	~slidingModeControlMRPMW ()
	Destructor.
int	Run ()
	Runs the default controller.
int	Initialize ()
	Initializes the default controller.
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_gainMRPRate
	Member matrix value that is the angular rate Gain Matrix for the tracking control law.
Matrix	m_gainMRPError
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.
Matrix	m_estimateInertiaInv
double	m_normEstimateInertiaInv
double	m_normEstimateInertia
Matrix	m_estimateB
Matrix	m_estimateBinv
Vector	m_phi
Vector	m_eta
double	m_torqueMax
Matrix	m_D_I
double	m_normD_I
Matrix	m_D_w
Matrix	m_D_wprime
Matrix	m_D_B
double	m_normD_B
Matrix	m_D_D
double	m_normD_D
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

slidingModeControlMRPMW::slidingModeControlMRPMW ( )

Constructors.
/brief Constructor for slidingModeControlMRPMW
Definition at line 18 of file slidingModeControlMRPMW.cpp.

slidingModeControlMRPMW::slidingModeControlMRPMW ( Whorl * ptr_whorl )

/brief Constructor for slidingModeControlMRPMW

Parameters:

ptr_whorl

Definition at line 26 of file slidingModeControlMRPMW.cpp.
References Initialize().

slidingModeControlMRPMW::~slidingModeControlMRPMW ( )

Destructor.
/brief De-Constructor for slidingModeControlMRPMW
Definition at line 36 of file slidingModeControlMRPMW.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(), Initialize(), MWCMGController::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(), Initialize(), MWCMGController::Initialize(), MRPTracking::Initialize(), DefaultController::Initialize(), and AngularRateController::Initialize().

int slidingModeControlMRPMW::Initialize ( ) [virtual]

Initializes the default controller.
/brief Initialize slidingModeControlMRPMW
Implements Controller.
Definition at line 44 of file slidingModeControlMRPMW.cpp.
References _, Controller::FindA(), Controller::FindMOI_sw(), Whorl::GetMOI(), O_SESSAME::ssfTime::GetSeconds(), CAMdoubleMatrix::initialize(), CAMdoubleVector::initialize(), Controller::m_angularRateReference, m_controlTorque, m_D_B, m_D_D, m_D_I, m_D_w, m_estimateB, m_estimateBinv, m_estimateInertiaInv, m_eta, m_gainMRPError, m_gainMRPRate, m_normD_B, m_normD_D, m_normD_I, m_normEstimateInertia, m_normEstimateInertiaInv, m_phi, m_previousTime, Controller::m_quaternionReference, m_torqueMax, matrixInv3x3(), and O_SESSAME::norm2().
Referenced by slidingModeControlMRPMW().

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

int slidingModeControlMRPMW::Run ( ) [virtual]

Runs the default controller.

Implements Controller.
Definition at line 155 of file slidingModeControlMRPMW.cpp.
References Controller::A, O_SESSAME::eye(), O_SESSAME::Rotation::GetDCM(), Whorl::GetMOI(), Whorl::GetMomentumWheel(), Whorl::GetMRP(), Whorl::GetOmegaBL(), O_SESSAME::ssfTime::GetSeconds(), MomentumWheel::GetWheelSpeed(), m_controlTorque, m_D_B, m_D_D, m_D_I, m_estimateBinv, m_estimateInertiaInv, m_gainMRPError, m_gainMRPRate, m_phi, m_torqueMax, O_SESSAME::Matrix, matrixInv3x3(), Controller::MOI_sw, AttitudeModels::MRPKinematic(), Controller::ReferenceTrajectory(), Controller::Saturation(), O_SESSAME::Rotation::Set(), O_SESSAME::ModifiedRodriguezParameters::Set(), Whorl::SetAngularRateError(), Whorl::SetControl(), Whorl::SetMRPError(), Whorl::SetReferenceOmegaBL(), Whorl::SetReferenceQuaternion(), Controller::SetWheelTorque(), O_SESSAME::skew(), O_SESSAME::ModifiedRodriguezParameters::Switch(), O_SESSAME::Vabs(), 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 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(), Run(), SingleAxisController::Run(), OpenLoopMWController::Run(), MWCMGController::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().

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

Vector slidingModeControlMRPMW::m_controlTorque [protected]

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

Definition at line 52 of file slidingModeControlMRPMW.h.
Referenced by Initialize(), and Run().

Matrix slidingModeControlMRPMW::m_D_B [protected]

Definition at line 69 of file slidingModeControlMRPMW.h.
Referenced by Initialize(), and Run().

Matrix slidingModeControlMRPMW::m_D_D [protected]

Definition at line 71 of file slidingModeControlMRPMW.h.
Referenced by Initialize(), and Run().

Matrix slidingModeControlMRPMW::m_D_I [protected]

Definition at line 65 of file slidingModeControlMRPMW.h.
Referenced by Initialize(), and Run().

Matrix slidingModeControlMRPMW::m_D_w [protected]

Definition at line 67 of file slidingModeControlMRPMW.h.
Referenced by Initialize().

Matrix slidingModeControlMRPMW::m_D_wprime [protected]

Definition at line 68 of file slidingModeControlMRPMW.h.

Matrix slidingModeControlMRPMW::m_estimateB [protected]

Definition at line 57 of file slidingModeControlMRPMW.h.
Referenced by Initialize().

Matrix slidingModeControlMRPMW::m_estimateBinv [protected]

Definition at line 58 of file slidingModeControlMRPMW.h.
Referenced by Initialize(), and Run().

Matrix slidingModeControlMRPMW::m_estimateInertiaInv [protected]

Definition at line 54 of file slidingModeControlMRPMW.h.
Referenced by Initialize(), and Run().

Vector slidingModeControlMRPMW::m_eta [protected]

Definition at line 61 of file slidingModeControlMRPMW.h.
Referenced by Initialize().

Matrix slidingModeControlMRPMW::m_gainMRPError [protected]

Definition at line 42 of file slidingModeControlMRPMW.h.
Referenced by Initialize(), and Run().

Matrix slidingModeControlMRPMW::m_gainMRPRate [protected]

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

Definition at line 41 of file slidingModeControlMRPMW.h.
Referenced by Initialize(), and Run().

double slidingModeControlMRPMW::m_mrpGain [protected]

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

Definition at line 45 of file slidingModeControlMRPMW.h.

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 slidingModeControlMRPMW::m_normD_B [protected]

Definition at line 70 of file slidingModeControlMRPMW.h.
Referenced by Initialize().

double slidingModeControlMRPMW::m_normD_D [protected]

Definition at line 72 of file slidingModeControlMRPMW.h.
Referenced by Initialize().

double slidingModeControlMRPMW::m_normD_I [protected]

Definition at line 66 of file slidingModeControlMRPMW.h.
Referenced by Initialize().

double slidingModeControlMRPMW::m_normEstimateInertia [protected]

Definition at line 56 of file slidingModeControlMRPMW.h.
Referenced by Initialize().

double slidingModeControlMRPMW::m_normEstimateInertiaInv [protected]

Definition at line 55 of file slidingModeControlMRPMW.h.
Referenced by Initialize().

Vector slidingModeControlMRPMW::m_phi [protected]

Definition at line 60 of file slidingModeControlMRPMW.h.
Referenced by Initialize(), and Run().

double slidingModeControlMRPMW::m_previousTime [protected]

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

Definition at line 48 of file slidingModeControlMRPMW.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(), Initialize(), MRPTracking::Initialize(), DefaultController::Initialize(), AngularRateController::Initialize(), Controller::ReferenceModelSC(), and Controller::ReferenceTrajectory().

double slidingModeControlMRPMW::m_torqueMax [protected]

Definition at line 63 of file slidingModeControlMRPMW.h.
Referenced by Initialize(), and Run().

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

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

Generated on Wed Sep 5 12:54:43 2007 for DSACSS Operational Code by

1.3.9.1

slidingModeControlMRPMW Class Reference

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation