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set stictionSpeed to minimum commandable RW speed
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Marius Eggert 2022-12-20 09:59:42 +01:00
parent d9d7559097
commit bd52da8afd
1 changed files with 3 additions and 3 deletions
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6
mission/controller/acs/AcsParameters.h
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@ -767,8 +767,8 @@ class AcsParameters : public HasParametersIF {
double gyr1orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}}; double gyr1orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
double gyr2orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}}; double gyr2orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}};
double gyr3orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}}; double gyr3orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
// var = sqrt(sigma), sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is /* var = sqrt(sigma), sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
// assumed to be equal for the same class of sensors * assumed to be equal for the same class of sensors */
float gyr02variance[3] = {pow(3.0e-3 * sqrt(2), 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms float gyr02variance[3] = {pow(3.0e-3 * sqrt(2), 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
pow(3.0e-3 * sqrt(2), 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms pow(3.0e-3 * sqrt(2), 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.3e-3 * sqrt(2), 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms pow(4.3e-3 * sqrt(2), 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
@ -779,7 +779,7 @@ class AcsParameters : public HasParametersIF {
struct RwHandlingParameters { struct RwHandlingParameters {
double inertiaWheel = 0.000028198; double inertiaWheel = 0.000028198;
double maxTrq = 0.0032; // 3.2 [mNm] double maxTrq = 0.0032; // 3.2 [mNm]
double stictionSpeed = 80; // RPM double stictionSpeed = 100; // 80; // RPM
double stictionReleaseSpeed = 120; // RPM double stictionReleaseSpeed = 120; // RPM
double stictionTorque = 0.0006; double stictionTorque = 0.0006;
} rwHandlingParameters; } rwHandlingParameters;