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scale dipole of controller to by the MTQ expected range
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This commit is contained in:
Marius Eggert 2023-02-02 10:47:58 +01:00
parent acba821afd
commit 4bed0fd563
2 changed files with 11 additions and 10 deletions
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15
mission/controller/acs/ActuatorCmd.cpp
View File

@ -54,21 +54,22 @@ void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1
VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
}
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits) {
// Convert to Unit frame
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator) {
// Convert to actuator frame
MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
dipolMoment, dipolMomentUnits, 3, 3, 1);
dipolMoment, dipolMomentActuator, 3, 3, 1);
// Scaling along largest element if dipol exceeds maximum
double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
double maxValue = 0;
for (int i = 0; i < 3; i++) {
if (abs(dipolMomentUnits[i]) > maxDipol) {
maxValue = abs(dipolMomentUnits[i]);
if (abs(dipolMomentActuator[i]) > maxDipol) {
maxValue = abs(dipolMomentActuator[i]);
}
}
if (maxValue > maxDipol) {
double scalingFactor = maxDipol / maxValue;
VectorOperations<double>::mulScalar(dipolMomentUnits, scalingFactor, dipolMomentUnits, 3);
VectorOperations<double>::mulScalar(dipolMomentActuator, scalingFactor, dipolMomentActuator, 3);
}
// scale dipole from 1 Am^2 to 1e^-4 Am^2
VectorOperations<double>::mulScalar(dipolMomentActuator, 1e4, dipolMomentActuator, 3);
}

4
mission/controller/acs/ActuatorCmd.h
View File

@ -35,9 +35,9 @@ class ActuatorCmd {
* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques
*
* @param: dipolMoment given dipol moment in spacecraft frame
* dipolMomentUnits resulting dipol moment for every unit
* dipolMomentActuator resulting dipol moment in actuator reference frame
*/
void cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits);
void cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator);
protected:
private: