changed antistiction

CHANGELOG.md

@@ -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
 

mission/controller/acs/AcsParameters.h

@@ -785,8 +785,8 @@ class AcsParameters : public HasParametersIF {
     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 stictionSpeed = 1000;         // 0.1 RPM
-    int32_t stictionReleaseSpeed = 120;   // RPM
+    int32_t stictionReleaseSpeed = 1000;  // 0.1 RPM
     double stictionTorque = 0.0006;
 
     uint16_t rampTime = 10;

mission/controller/acs/control/PtgCtrl.cpp

@@ -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,
+  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 (rwCmdSpeeds[i] != 0) {
-        if ((omegaRw[i] * torqueMemory[i]) >
+        if (rwCmdSpeeds[i] > -acsParameters->rwHandlingParameters.stictionSpeed &&
-            acsParameters->rwHandlingParameters.stictionReleaseSpeed) {
+            rwCmdSpeeds[i] < acsParameters->rwHandlingParameters.stictionSpeed) {
-          torqueMemory[i] = 0;
+          if (currRwSpeed[i] == 0) {
-        } else {
+            if (rwCmdSpeeds[i] > 0) {
-          torqueCommand[i] = torqueMemory[i] * acsParameters->rwHandlingParameters.stictionTorque;
+              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;
+          }
         }
-      } else {
-        if ((omegaRw[i] < acsParameters->rwHandlingParameters.stictionSpeed) &&
-            (omegaRw[i] > -acsParameters->rwHandlingParameters.stictionSpeed)) {
-          if (omegaRw[i] < omegaMemory[i]) {
-            torqueMemory[i] = -1;
-          } else {
-            torqueMemory[i] = 1;
-          }
-
-          torqueCommand[i] = torqueMemory[i] * acsParameters->rwHandlingParameters.stictionTorque;
       }
     }
-    } else {
-      torqueMemory[i] = 0;
-    }
-    omegaMemory[i] = omegaRw[i];
   }
 }

mission/controller/acs/control/PtgCtrl.h

@@ -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_ */