changed antistiction
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@ -47,6 +47,7 @@ will consitute of a breaking change warranting a new major release:
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- The `detumbleCounter` now does not get hard reset anymore, if the critical rate does not get
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violated anymore. Instead it is incrementally reset.
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- The RW antistiction now only takes the RW speeds in account.
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# [v1.36.0] 2023-03-08
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@ -784,9 +784,9 @@ class AcsParameters : public HasParametersIF {
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struct RwHandlingParameters {
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double inertiaWheel = 0.000028198;
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double maxTrq = 0.0032; // 3.2 [mNm]
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int32_t maxRwSpeed = 65000; // 0.1 RPM
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int32_t stictionSpeed = 100; // RPM
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int32_t stictionReleaseSpeed = 120; // RPM
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int32_t maxRwSpeed = 65000; // 0.1 RPM
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int32_t stictionSpeed = 1000; // 0.1 RPM
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int32_t stictionReleaseSpeed = 1000; // 0.1 RPM
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double stictionTorque = 0.0006;
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uint16_t rampTime = 10;
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@ -154,38 +154,33 @@ void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawPara
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VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4);
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}
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void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, double *torqueCommand) {
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void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpeeds) {
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bool rwAvailable[4] = {
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(sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid()),
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(sensorValues->rw2Set.state.value && sensorValues->rw2Set.state.isValid()),
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(sensorValues->rw3Set.state.value && sensorValues->rw3Set.state.isValid()),
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(sensorValues->rw4Set.state.value && sensorValues->rw4Set.state.isValid())};
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int32_t omegaRw[4] = {sensorValues->rw1Set.currSpeed.value, sensorValues->rw2Set.currSpeed.value,
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sensorValues->rw3Set.currSpeed.value, sensorValues->rw4Set.currSpeed.value};
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int32_t currRwSpeed[4] = {
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sensorValues->rw1Set.currSpeed.value, sensorValues->rw2Set.currSpeed.value,
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sensorValues->rw3Set.currSpeed.value, sensorValues->rw4Set.currSpeed.value};
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for (uint8_t i = 0; i < 4; i++) {
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if (rwAvailable[i]) {
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if (torqueMemory[i] != 0) {
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if ((omegaRw[i] * torqueMemory[i]) >
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acsParameters->rwHandlingParameters.stictionReleaseSpeed) {
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torqueMemory[i] = 0;
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} else {
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torqueCommand[i] = torqueMemory[i] * acsParameters->rwHandlingParameters.stictionTorque;
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}
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} else {
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if ((omegaRw[i] < acsParameters->rwHandlingParameters.stictionSpeed) &&
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(omegaRw[i] > -acsParameters->rwHandlingParameters.stictionSpeed)) {
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if (omegaRw[i] < omegaMemory[i]) {
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torqueMemory[i] = -1;
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} else {
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torqueMemory[i] = 1;
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if (rwCmdSpeeds[i] != 0) {
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if (rwCmdSpeeds[i] > -acsParameters->rwHandlingParameters.stictionSpeed &&
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rwCmdSpeeds[i] < acsParameters->rwHandlingParameters.stictionSpeed) {
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if (currRwSpeed[i] == 0) {
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if (rwCmdSpeeds[i] > 0) {
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rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
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} else if (rwCmdSpeeds[i] < 0) {
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rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
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}
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} else if (currRwSpeed[i] < -acsParameters->rwHandlingParameters.stictionSpeed) {
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rwCmdSpeeds[i] = acsParameters->rwHandlingParameters.stictionSpeed;
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} else if (currRwSpeed[i] > acsParameters->rwHandlingParameters.stictionSpeed) {
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rwCmdSpeeds[i] = -acsParameters->rwHandlingParameters.stictionSpeed;
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}
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torqueCommand[i] = torqueMemory[i] * acsParameters->rwHandlingParameters.stictionTorque;
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}
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}
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} else {
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torqueMemory[i] = 0;
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}
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omegaMemory[i] = omegaRw[i];
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}
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}
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@ -1,16 +1,3 @@
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/*
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* PtgCtrl.h
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*
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* Created on: 17 Jul 2022
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* Author: Robin Marquardt
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*
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* @brief: This class handles the pointing control mechanism. Calculation of an commanded
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* torque for the reaction wheels, and magnetic Field strength for magnetorques for desaturation
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*
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* @note: A description of the used algorithms can be found in
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* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110
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*/
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#ifndef PTGCTRL_H_
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#define PTGCTRL_H_
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@ -23,6 +10,13 @@
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#include "eive/resultClassIds.h"
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class PtgCtrl {
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/*
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* @brief: This class handles the pointing control mechanism. Calculation of an commanded
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* torque for the reaction wheels, and magnetic Field strength for magnetorques for desaturation
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*
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* @note: A description of the used algorithms can be found in
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* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110
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*/
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public:
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/* @brief: Constructor
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* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
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@ -50,13 +44,10 @@ class PtgCtrl {
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/* @brief: Commands the stiction torque in case wheel speed is to low
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* torqueCommand modified torque after antistiction
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*/
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void rwAntistiction(ACS::SensorValues *sensorValues, double *torqueCommand);
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void rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpeed);
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private:
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const AcsParameters *acsParameters;
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double torqueMemory[4] = {0, 0, 0, 0};
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double omegaMemory[4] = {0, 0, 0, 0};
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};
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#endif /* ACS_CONTROL_PTGCTRL_H_ */
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