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RW cmd fix and cleanup

This commit is contained in:
Marius Eggert 2023-04-27 10:19:07 +02:00 committed by Robin Mueller
parent e04313b9f3
commit 0ff7e0f97a
3 changed files with 32 additions and 30 deletions
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7
mission/controller/AcsController.cpp
View File

@ -489,10 +489,9 @@ void AcsController::performPointingCtrl() {
actuatorCmd.cmdSpeedToRws(
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, torqueRws,
cmdSpeedRws, acsParameters.onBoardParams.sampleTime,
acsParameters.rwHandlingParameters.maxRwSpeed,
acsParameters.rwHandlingParameters.inertiaWheel);
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value,
acsParameters.onBoardParams.sampleTime, acsParameters.rwHandlingParameters.inertiaWheel,
acsParameters.rwHandlingParameters.maxRwSpeed, torqueRws, cmdSpeedRws);
if (enableAntiStiction) {
ptgCtrl.rwAntistiction(&sensorValues, cmdSpeedRws);
}

34
mission/controller/acs/ActuatorCmd.cpp
View File

@ -5,8 +5,6 @@
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <cmath>
#include "util/CholeskyDecomposition.h"
#include "util/MathOperations.h"
@ -25,24 +23,30 @@ void ActuatorCmd::scalingTorqueRws(double *rwTrq, double maxTorque) {
}
}
void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2,
int32_t speedRw3, const double *rwTorque, int32_t *rwCmdSpeed,
double sampleTime, int32_t maxRwSpeed, double inertiaWheel) {
using namespace Math;
// Calculating the commanded speed in RPM for every reaction wheel
void ActuatorCmd::cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1,
const int32_t speedRw2, const int32_t speedRw3,
const double sampleTime, const double inertiaWheel,
const int32_t maxRwSpeed, const double *rwTorque,
int32_t *rwCmdSpeed) {
// concentrate RW speed values (in 0.1 [RPM]) in vector
int32_t speedRws[4] = {speedRw0, speedRw1, speedRw2, speedRw3};
// calculate required RW speed as sum of current RW speed and RW speed delta
// delta w_rw = delta t / I_RW * torque_RW [rad/s]
double deltaSpeed[4] = {0, 0, 0, 0};
double radToRpm = 60 / (2 * PI); // factor for conversion to RPM
// W_RW = Torque_RW / I_RW * delta t [rad/s]
double factor = sampleTime / inertiaWheel * radToRpm;
int32_t deltaSpeedInt[4] = {0, 0, 0, 0};
const double factor = sampleTime / inertiaWheel * RAD_PER_SEC_TO_RPM * 10;
VectorOperations<double>::mulScalar(rwTorque, factor, deltaSpeed, 4);
// convert double to int32
int32_t deltaSpeedInt[4] = {0, 0, 0, 0};
for (int i = 0; i < 4; i++) {
deltaSpeedInt[i] = std::round(deltaSpeed[i]);
}
// sum of current RW speed and RW speed delta
VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
// crop values which would exceed the maximum possible RPM
for (uint8_t i = 0; i < 4; i++) {
if (rwCmdSpeed[i] > maxRwSpeed) {
rwCmdSpeed[i] = maxRwSpeed;
@ -54,11 +58,11 @@ void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t spee
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,
const double *inverseAlignment, double maxDipol) {
// Convert to actuator frame
// convert to actuator frame
double dipolMomentActuatorDouble[3] = {0, 0, 0};
MatrixOperations<double>::multiply(inverseAlignment, dipolMoment, dipolMomentActuatorDouble, 3, 3,
1);
// Scaling along largest element if dipol exceeds maximum
// scaling along largest element if dipole exceeds maximum
uint8_t maxIdx = 0;
VectorOperations<double>::maxAbsValue(dipolMomentActuatorDouble, 3, &maxIdx);
double maxAbsValue = abs(dipolMomentActuatorDouble[maxIdx]);

21
mission/controller/acs/ActuatorCmd.h
View File

@ -1,9 +1,8 @@
#ifndef ACTUATORCMD_H_
#define ACTUATORCMD_H_
#include "MultiplicativeKalmanFilter.h"
#include "SensorProcessing.h"
#include "SensorValues.h"
#include <cmath>
class ActuatorCmd {
public:
@ -19,17 +18,16 @@ class ActuatorCmd {
void scalingTorqueRws(double *rwTrq, double maxTorque);
/*
* @brief: cmdSpeedToRws() will set the maximum possible torque for the reaction
* wheels, also will calculate the needed revolutions per minute for the RWs, which will be given
* as Input to the RWs
* @param: rwTrqIn given torque from pointing controller
* rwTrqNS Nullspace torque
* @brief: cmdSpeedToRws() Calculates the RPM for the reaction wheel configuration,
* given the required torque calculated by the controller. Will also scale down the RPM of the
* wheels if they exceed the maximum possible RPM
* @param: rwTrq given torque from pointing controller
* rwCmdSpeed output revolutions per minute for every
* reaction wheel
*/
void cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2, int32_t speedRw3,
const double *rwTorque, int32_t *rwCmdSpeed, double sampleTime,
int32_t maxRwSpeed, double inertiaWheel);
void cmdSpeedToRws(const int32_t speedRw0, const int32_t speedRw1, const int32_t speedRw2,
const int32_t speedRw3, const double sampleTime, const double inertiaWheel,
const int32_t maxRwSpeed, const double *rwTorque, int32_t *rwCmdSpeed);
/*
* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques
@ -42,6 +40,7 @@ class ActuatorCmd {
protected:
private:
static constexpr double RAD_PER_SEC_TO_RPM = 60 / (2 * M_PI);
};
#endif /* ACTUATORCMD_H_ */