eive-obsw/mission/controller/acs/control/PtgCtrl.cpp

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#include "PtgCtrl.h"
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#include <fsfw/globalfunctions/constants.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/globalfunctions/sign.h>
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PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }
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PtgCtrl::~PtgCtrl() {}
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acs::ControlModeStrategy PtgCtrl::pointingCtrlStrategy(
const bool magFieldValid, const bool mekfValid, const bool strValid, const bool questValid,
const bool fusedRateValid, const uint8_t rotRateSource, const uint8_t mekfEnabled) {
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if (not magFieldValid) {
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return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL;
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} else if (mekfEnabled and mekfValid) {
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return acs::ControlModeStrategy::PTGCTRL_MEKF;
} else if (strValid and fusedRateValid and rotRateSource > acs::RotRateSource::SUSMGM) {
return acs::ControlModeStrategy::PTGCTRL_STR;
} else if (questValid and fusedRateValid and rotRateSource > acs::RotRateSource::SUSMGM) {
return acs::ControlModeStrategy::PTGCTRL_QUEST;
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} else {
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return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
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}
}
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void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters,
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const double *errorQuat, const double *deltaRate, const double *rwPseudoInv,
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double *torqueRws) {
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//------------------------------------------------------------------------------------------------
// Compute gain matrix K and P matrix
//------------------------------------------------------------------------------------------------
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double om = pointingLawParameters->om;
double zeta = pointingLawParameters->zeta;
double qErrorMin = pointingLawParameters->qiMin;
double omMax = pointingLawParameters->omMax;
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double qError[3] = {errorQuat[0], errorQuat[1], errorQuat[2]};
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double cInt = 2 * om * zeta;
double kInt = 2 * pow(om, 2);
double qErrorLaw[3] = {0, 0, 0};
for (int i = 0; i < 3; i++) {
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if (std::abs(qError[i]) < qErrorMin) {
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qErrorLaw[i] = qErrorMin;
} else {
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qErrorLaw[i] = std::abs(qError[i]);
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}
}
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double qErrorLawNorm = VectorOperations<double>::norm(qErrorLaw, 3);
double gain1 = cInt * omMax / qErrorLawNorm;
double gainVector[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(qErrorLaw, gain1, gainVector, 3);
double gainMatrixDiagonal[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
double gainMatrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
gainMatrixDiagonal[0][0] = gainVector[0];
gainMatrixDiagonal[1][1] = gainVector[1];
gainMatrixDiagonal[2][2] = gainVector[2];
MatrixOperations<double>::multiply(*gainMatrixDiagonal,
*(acsParameters->inertiaEIVE.inertiaMatrixDeployed),
*gainMatrix, 3, 3, 3);
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// Inverse of gainMatrix
double gainMatrixInverse[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
gainMatrixInverse[0][0] = 1 / gainMatrix[0][0];
gainMatrixInverse[1][1] = 1 / gainMatrix[1][1];
gainMatrixInverse[2][2] = 1 / gainMatrix[2][2];
double pMatrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
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MatrixOperations<double>::multiply(
*gainMatrixInverse, *(acsParameters->inertiaEIVE.inertiaMatrixDeployed), *pMatrix, 3, 3, 3);
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MatrixOperations<double>::multiplyScalar(*pMatrix, kInt, *pMatrix, 3, 3);
//------------------------------------------------------------------------------------------------
// Torque Calculations for the reaction wheels
//------------------------------------------------------------------------------------------------
double pError[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*pMatrix, qError, pError, 3, 3, 1);
double pErrorSign[3] = {0, 0, 0};
for (int i = 0; i < 3; i++) {
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if (std::abs(pError[i]) > 1) {
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pErrorSign[i] = sign(pError[i]);
} else {
pErrorSign[i] = pError[i];
}
}
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// torque for quaternion error
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double torqueQuat[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*gainMatrix, pErrorSign, torqueQuat, 3, 3, 1);
VectorOperations<double>::mulScalar(torqueQuat, -1, torqueQuat, 3);
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// torque for rate error
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double torqueRate[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*(acsParameters->inertiaEIVE.inertiaMatrixDeployed), deltaRate,
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torqueRate, 3, 3, 1);
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VectorOperations<double>::mulScalar(torqueRate, cInt, torqueRate, 3);
VectorOperations<double>::mulScalar(torqueRate, -1, torqueRate, 3);
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// final commanded Torque for every reaction wheel
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double torque[3] = {0, 0, 0};
VectorOperations<double>::add(torqueRate, torqueQuat, torque, 3);
MatrixOperations<double>::multiply(rwPseudoInv, torque, torqueRws, 4, 3, 1);
VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4);
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}
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void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, double *rwTrqNs) {
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// concentrate RW speeds as vector and convert to double
double speedRws[4] = {static_cast<double>(speedRw0), static_cast<double>(speedRw1),
static_cast<double>(speedRw2), static_cast<double>(speedRw3)};
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VectorOperations<double>::mulScalar(speedRws, 1e-1, speedRws, 4);
VectorOperations<double>::mulScalar(speedRws, RPM_TO_RAD_PER_SEC, speedRws, 4);
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// calculate RPM offset utilizing the nullspace
double rpmOffset[4] = {0, 0, 0, 0};
double rpmOffsetSpeed = pointingLawParameters->nullspaceSpeed / 10 * RPM_TO_RAD_PER_SEC;
VectorOperations<double>::mulScalar(acsParameters->rwMatrices.nullspaceVector, rpmOffsetSpeed,
rpmOffset, 4);
// calculate resulting angular momentum
double rwAngMomentum[4] = {0, 0, 0, 0}, diffRwSpeed[4] = {0, 0, 0, 0};
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VectorOperations<double>::subtract(speedRws, rpmOffset, diffRwSpeed, 4);
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VectorOperations<double>::mulScalar(diffRwSpeed, acsParameters->rwHandlingParameters.inertiaWheel,
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rwAngMomentum, 4);
// calculate resulting torque
double nullspaceMatrix[4][4] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MatrixOperations<double>::multiply(acsParameters->rwMatrices.nullspaceVector,
acsParameters->rwMatrices.nullspaceVector, *nullspaceMatrix, 4,
1, 4);
MatrixOperations<double>::multiply(*nullspaceMatrix, rwAngMomentum, rwTrqNs, 4, 4, 1);
VectorOperations<double>::mulScalar(rwTrqNs, -1 * pointingLawParameters->gainNullspace, rwTrqNs,
4);
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}
void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
const double *magFieldB, const bool magFieldBValid,
const double *satRate, const int32_t speedRw0, const int32_t speedRw1,
const int32_t speedRw2, const int32_t speedRw3, double *mgtDpDes) {
if (not magFieldBValid or not pointingLawParameters->desatOn) {
return;
}
// concentrate RW speeds as vector and convert to double
double speedRws[4] = {static_cast<double>(speedRw0), static_cast<double>(speedRw1),
static_cast<double>(speedRw2), static_cast<double>(speedRw3)};
// convert magFieldB from uT to T
double magFieldBT[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
// calculate angular momentum of the satellite
double angMomentumSat[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*(acsParameters->inertiaEIVE.inertiaMatrixDeployed), satRate,
angMomentumSat, 3, 3, 1);
// calculate angular momentum of the reaction wheels with respect to the nullspace RW speed
// relocate RW speed zero to nullspace RW speed
double refSpeedRws[4] = {0, 0, 0, 0};
VectorOperations<double>::mulScalar(acsParameters->rwMatrices.nullspaceVector,
pointingLawParameters->nullspaceSpeed, refSpeedRws, 4);
VectorOperations<double>::subtract(speedRws, refSpeedRws, speedRws, 4);
// convert speed from 10 RPM to 1 RPM
VectorOperations<double>::mulScalar(speedRws, 1e-1, speedRws, 4);
// convert to rad/s
VectorOperations<double>::mulScalar(speedRws, RPM_TO_RAD_PER_SEC, speedRws, 4);
// calculate angular momentum of each RW
double angMomentumRwU[4] = {0, 0, 0, 0};
VectorOperations<double>::mulScalar(speedRws, acsParameters->rwHandlingParameters.inertiaWheel,
angMomentumRwU, 4);
// convert RW angular momentum to body RF
double angMomentumRw[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*(acsParameters->rwMatrices.alignmentMatrix), angMomentumRwU,
angMomentumRw, 3, 4, 1);
// calculate total angular momentum
double angMomentumTotal[3] = {0, 0, 0};
VectorOperations<double>::add(angMomentumSat, angMomentumRw, angMomentumTotal, 3);
// calculating momentum error
double deltaAngMomentum[3] = {0, 0, 0};
VectorOperations<double>::subtract(angMomentumTotal, pointingLawParameters->desatMomentumRef,
deltaAngMomentum, 3);
// resulting magnetic dipole command
double crossAngMomentumMagField[3] = {0, 0, 0};
VectorOperations<double>::cross(deltaAngMomentum, magFieldBT, crossAngMomentumMagField);
double factor =
pointingLawParameters->deSatGainFactor / VectorOperations<double>::norm(magFieldBT, 3);
VectorOperations<double>::mulScalar(crossAngMomentumMagField, factor, mgtDpDes, 3);
}
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void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpeeds) {
bool rwAvailable[4] = {
(sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid()),
(sensorValues->rw2Set.state.value && sensorValues->rw2Set.state.isValid()),
(sensorValues->rw3Set.state.value && sensorValues->rw3Set.state.isValid()),
(sensorValues->rw4Set.state.value && sensorValues->rw4Set.state.isValid())};
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int32_t currRwSpeed[4] = {
sensorValues->rw1Set.currSpeed.value, sensorValues->rw2Set.currSpeed.value,
sensorValues->rw3Set.currSpeed.value, sensorValues->rw4Set.currSpeed.value};
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for (uint8_t i = 0; i < 4; i++) {
if (rwAvailable[i]) {
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if (rwCmdSpeeds[i] != 0) {
if (rwCmdSpeeds[i] > -acsParameters->rwHandlingParameters.stictionSpeed &&
rwCmdSpeeds[i] < acsParameters->rwHandlingParameters.stictionSpeed) {
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if (rwCmdSpeeds[i] > currRwSpeed[i]) {
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rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
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} else if (rwCmdSpeeds[i] < currRwSpeed[i]) {
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rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
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}
}
}
}
}
}