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added PtgCtrl
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Marius Eggert
2022-09-20 13:43:26 +02:00
parent 3d123a09f3
commit 497149a628
2 changed files with 225 additions and 0 deletions
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mission/controller/acs/control/PtgCtrl.cpp Normal file
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/*
* PtgCtrl.cpp
*
* Created on: 17 Jul 2022
* Author: Robin Marquardt
*/
#include "PtgCtrl.h"
#include <fsfw/src/fsfw/globalfunctions/constants.h>
#include <fsfw/src/fsfw/globalfunctions/math/MatrixOperations.h>
#include <acs/util/MathOperations.h>
#include <fsfw/src/fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/src/fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/src/fsfw/globalfunctions/sign.h>
#include <math.h>
PtgCtrl::PtgCtrl(AcsParameters *acsParameters_){
loadAcsParameters(acsParameters_);
}
PtgCtrl::~PtgCtrl(){
}
void PtgCtrl::loadAcsParameters(AcsParameters *acsParameters_){
pointingModeControllerParameters = &(acsParameters_->targetModeControllerParameters);
inertiaEIVE = &(acsParameters_->inertiaEIVE);
rwHandlingParameters = &(acsParameters_->rwHandlingParameters);
rwMatrices =&(acsParameters_->rwMatrices);
}
void PtgCtrl::ptgGroundstation(const double mode, const double *qError, const double *deltaRate,const double *rwPseudoInv, double *torqueRws){
//------------------------------------------------------------------------------------------------
// Compute gain matrix K and P matrix
//------------------------------------------------------------------------------------------------
double om = pointingModeControllerParameters->om;
double zeta = pointingModeControllerParameters->zeta;
double qErrorMin = pointingModeControllerParameters->qiMin;
double omMax = pointingModeControllerParameters->omMax;
double cInt = 2 * om * zeta;
double kInt = 2 * pow(om,2);
double qErrorLaw[3] = {0, 0, 0};
for (int i = 0; i < 3; i++) {
if (abs(qError[i]) < qErrorMin) {
qErrorLaw[i] = qErrorMin;
}
else {
qErrorLaw[i] = abs(qError[i]);
}
}
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, *(inertiaEIVE->inertiaMatrix), *gainMatrix, 3, 3, 3);
// 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}};
MatrixOperations<double>::multiply(*gainMatrixInverse, *(inertiaEIVE->inertiaMatrix), *pMatrix, 3, 3, 3);
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++) {
if (abs(pError[i]) > 1) {
pErrorSign[i] = sign(pError[i]);
}
else {
pErrorSign[i] = pError[i];
}
}
// Torque for quaternion error
double torqueQuat[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*gainMatrix, pErrorSign, torqueQuat, 3, 3, 1);
VectorOperations<double>::mulScalar(torqueQuat, -1, torqueQuat, 3);
// Torque for rate error
double torqueRate[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*(inertiaEIVE->inertiaMatrix), deltaRate, torqueRate, 3, 3, 1);
VectorOperations<double>::mulScalar(torqueRate, cInt, torqueRate, 3);
VectorOperations<double>::mulScalar(torqueRate, -1, torqueRate, 3);
// Final commanded Torque for every reaction wheel
double torque[3] = {0, 0, 0};
VectorOperations<double>::add(torqueRate, torqueQuat, torque, 3);
MatrixOperations<double>::multiply(rwPseudoInv, torque, torqueRws, 4, 3, 1);
}
void PtgCtrl::ptgDesaturation(double *magFieldEst, bool *magFieldEstValid, double *satRate, double *speedRw0,
double *speedRw1, double *speedRw2, double *speedRw3, double *mgtDpDes) {
if ( !(magFieldEstValid) || !(pointingModeControllerParameters->desatOn)) {
mgtDpDes[0] = 0;
mgtDpDes[1] = 0;
mgtDpDes[2] = 0;
return;
}
// calculating momentum of satellite and momentum of reaction wheels
double speedRws[4] = {*speedRw0, *speedRw1, *speedRw2, *speedRw3};
double momentumRwU[4] = {0, 0, 0, 0}, momentumRw[3] = {0, 0, 0};
VectorOperations<double>::mulScalar(speedRws, rwHandlingParameters->inertiaWheel, momentumRwU, 4);
MatrixOperations<double>::multiply(*(rwMatrices->alignmentMatrix), momentumRwU, momentumRw, 3, 4, 1);
double momentumSat[3] = {0, 0, 0}, momentumTotal[3] = {0, 0, 0};
MatrixOperations<double>::multiply(*(inertiaEIVE->inertiaMatrix), satRate, momentumSat, 3, 3, 1);
VectorOperations<double>::add(momentumSat, momentumRw, momentumTotal, 3);
// calculating momentum error
double deltaMomentum[3] = {0, 0, 0};
VectorOperations<double>::subtract(momentumTotal, pointingModeControllerParameters->desatMomentumRef, deltaMomentum, 3);
// resulting magnetic dipole command
double crossMomentumMagField[3] = {0, 0, 0};
VectorOperations<double>::cross(deltaMomentum, magFieldEst, crossMomentumMagField);
double normMag = VectorOperations<double>::norm(magFieldEst, 3), factor = 0;
factor = (pointingModeControllerParameters->deSatGainFactor) / normMag;
VectorOperations<double>::mulScalar(crossMomentumMagField, factor, mgtDpDes, 3);
}
void PtgCtrl::ptgNullspace(const double *speedRw0, const double *speedRw1, const double *speedRw2, const double *speedRw3, double *rwTrqNs) {
double speedRws[4] = {*speedRw0, *speedRw1, *speedRw2, *speedRw3};
double wheelMomentum[4] = {0, 0, 0, 0};
double rpmOffset[4] = {1, 1, 1, -1}, factor = 350 * 2 * Math::PI / 60;
//Conversion to [rad/s] for further calculations
VectorOperations<double>::mulScalar(rpmOffset, factor, rpmOffset, 4);
VectorOperations<double>::mulScalar(speedRws, 2 * Math::PI / 60, speedRws, 4);
double diffRwSpeed[4] = {0, 0, 0, 0};
VectorOperations<double>::subtract(speedRws, rpmOffset, diffRwSpeed, 4);
VectorOperations<double>::mulScalar(diffRwSpeed, rwHandlingParameters->inertiaWheel, wheelMomentum, 4);
double gainNs = pointingModeControllerParameters->gainNullspace;
double nullSpaceMatrix[4][4] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
MathOperations<double>::vecTransposeVecMatrix(rwMatrices->nullspace, rwMatrices->nullspace, *nullSpaceMatrix, 4);
MatrixOperations<double>::multiply(*nullSpaceMatrix, wheelMomentum, rwTrqNs, 4, 4, 1);
VectorOperations<double>::mulScalar(rwTrqNs, gainNs, rwTrqNs, 4);
VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4);
}