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changed antistiction

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This commit is contained in:
Marius Eggert 2023-03-10 17:21:52 +01:00
parent 555e0ce49d
commit bce8df376a
4 changed files with 29 additions and 42 deletions
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1
CHANGELOG.md
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@ -47,6 +47,7 @@ will consitute of a breaking change warranting a new major release:
- The `detumbleCounter` now does not get hard reset anymore, if the critical rate does not get
violated anymore. Instead it is incrementally reset.
- The RW antistiction now only takes the RW speeds in account.
# [v1.36.0] 2023-03-08

6
mission/controller/acs/AcsParameters.h
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@ -784,9 +784,9 @@ class AcsParameters : public HasParametersIF {
struct RwHandlingParameters {
double inertiaWheel = 0.000028198;
double maxTrq = 0.0032; // 3.2 [mNm]
int32_t maxRwSpeed = 65000; // 0.1 RPM
int32_t stictionSpeed = 100; // RPM
int32_t stictionReleaseSpeed = 120; // RPM
int32_t maxRwSpeed = 65000; // 0.1 RPM
int32_t stictionSpeed = 1000; // 0.1 RPM
int32_t stictionReleaseSpeed = 1000; // 0.1 RPM
double stictionTorque = 0.0006;
uint16_t rampTime = 10;

39
mission/controller/acs/control/PtgCtrl.cpp
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@ -154,38 +154,33 @@ void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawPara
VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4);
}
void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, double *torqueCommand) {
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())};
int32_t omegaRw[4] = {sensorValues->rw1Set.currSpeed.value, sensorValues->rw2Set.currSpeed.value,
sensorValues->rw3Set.currSpeed.value, sensorValues->rw4Set.currSpeed.value};
int32_t currRwSpeed[4] = {
sensorValues->rw1Set.currSpeed.value, sensorValues->rw2Set.currSpeed.value,
sensorValues->rw3Set.currSpeed.value, sensorValues->rw4Set.currSpeed.value};
for (uint8_t i = 0; i < 4; i++) {
if (rwAvailable[i]) {
if (torqueMemory[i] != 0) {
if ((omegaRw[i] * torqueMemory[i]) >
acsParameters->rwHandlingParameters.stictionReleaseSpeed) {
torqueMemory[i] = 0;
} else {
torqueCommand[i] = torqueMemory[i] * acsParameters->rwHandlingParameters.stictionTorque;
}
} else {
if ((omegaRw[i] < acsParameters->rwHandlingParameters.stictionSpeed) &&
(omegaRw[i] > -acsParameters->rwHandlingParameters.stictionSpeed)) {
if (omegaRw[i] < omegaMemory[i]) {
torqueMemory[i] = -1;
} else {
torqueMemory[i] = 1;
if (rwCmdSpeeds[i] != 0) {
if (rwCmdSpeeds[i] > -acsParameters->rwHandlingParameters.stictionSpeed &&
rwCmdSpeeds[i] < acsParameters->rwHandlingParameters.stictionSpeed) {
if (currRwSpeed[i] == 0) {
if (rwCmdSpeeds[i] > 0) {
rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
} else if (rwCmdSpeeds[i] < 0) {
rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
}
} else if (currRwSpeed[i] < -acsParameters->rwHandlingParameters.stictionSpeed) {
rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
} else if (currRwSpeed[i] > acsParameters->rwHandlingParameters.stictionSpeed) {
rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
}
torqueCommand[i] = torqueMemory[i] * acsParameters->rwHandlingParameters.stictionTorque;
}
}
} else {
torqueMemory[i] = 0;
}
omegaMemory[i] = omegaRw[i];
}
}

25
mission/controller/acs/control/PtgCtrl.h
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@ -1,16 +1,3 @@
/*
* PtgCtrl.h
*
* Created on: 17 Jul 2022
* Author: Robin Marquardt
*
* @brief: This class handles the pointing control mechanism. Calculation of an commanded
* torque for the reaction wheels, and magnetic Field strength for magnetorques for desaturation
*
* @note: A description of the used algorithms can be found in
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110
*/
#ifndef PTGCTRL_H_
#define PTGCTRL_H_
@ -23,6 +10,13 @@
#include "eive/resultClassIds.h"
class PtgCtrl {
/*
* @brief: This class handles the pointing control mechanism. Calculation of an commanded
* torque for the reaction wheels, and magnetic Field strength for magnetorques for desaturation
*
* @note: A description of the used algorithms can be found in
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110
*/
public:
/* @brief: Constructor
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
@ -50,13 +44,10 @@ class PtgCtrl {
/* @brief: Commands the stiction torque in case wheel speed is to low
* torqueCommand modified torque after antistiction
*/
void rwAntistiction(ACS::SensorValues *sensorValues, double *torqueCommand);
void rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpeed);
private:
const AcsParameters *acsParameters;
double torqueMemory[4] = {0, 0, 0, 0};
double omegaMemory[4] = {0, 0, 0, 0};
};
#endif /* ACS_CONTROL_PTGCTRL_H_ */