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added protection to not command rwSpeeds larger than the allowed speed range
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Marius Eggert 2023-03-10 11:37:04 +01:00
parent 9a30ae5175
commit cb8a49775d
5 changed files with 18 additions and 7 deletions
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4
mission/controller/AcsController.cpp
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@ -416,7 +416,6 @@ void AcsController::performPointingCtrl() {
enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction; enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
break; break;
} }
if (enableAntiStiction) { if (enableAntiStiction) {
ptgCtrl.rwAntistiction(&sensorValues, torqueRwsScaled); ptgCtrl.rwAntistiction(&sensorValues, torqueRwsScaled);
} }
@ -425,13 +424,14 @@ void AcsController::performPointingCtrl() {
sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value, sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, torqueRwsScaled, sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, torqueRwsScaled,
cmdSpeedRws, acsParameters.onBoardParams.sampleTime, cmdSpeedRws, acsParameters.onBoardParams.sampleTime,
acsParameters.rwHandlingParameters.maxRwSpeed,
acsParameters.rwHandlingParameters.inertiaWheel); acsParameters.rwHandlingParameters.inertiaWheel);
actuatorCmd.cmdDipolMtq(mgtDpDes, cmdDipolMtqs, actuatorCmd.cmdDipolMtq(mgtDpDes, cmdDipolMtqs,
*acsParameters.magnetorquerParameter.inverseAlignment, *acsParameters.magnetorquerParameter.inverseAlignment,
acsParameters.magnetorquerParameter.dipolMax); acsParameters.magnetorquerParameter.dipolMax);
updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate); updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate);
updateActuatorCmdData(rwTrqNs, cmdSpeedRws, cmdDipolMtqs); updateActuatorCmdData(torqueRwsScaled, cmdSpeedRws, cmdDipolMtqs);
// commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2], // commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
// acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0], // acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0],
// cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3], // cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],

9
mission/controller/acs/AcsParameters.cpp
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@ -270,15 +270,18 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(rwHandlingParameters.maxTrq); parameterWrapper->set(rwHandlingParameters.maxTrq);
break; break;
case 0x2: case 0x2:
parameterWrapper->set(rwHandlingParameters.stictionSpeed); parameterWrapper->set(rwHandlingParameters.maxRwSpeed);
break; break;
case 0x3: case 0x3:
parameterWrapper->set(rwHandlingParameters.stictionReleaseSpeed); parameterWrapper->set(rwHandlingParameters.stictionSpeed);
break; break;
case 0x4: case 0x4:
parameterWrapper->set(rwHandlingParameters.stictionTorque); parameterWrapper->set(rwHandlingParameters.stictionReleaseSpeed);
break; break;
case 0x5: case 0x5:
parameterWrapper->set(rwHandlingParameters.stictionTorque);
break;
case 0x6:
parameterWrapper->set(rwHandlingParameters.rampTime); parameterWrapper->set(rwHandlingParameters.rampTime);
break; break;
default: default:

1
mission/controller/acs/AcsParameters.h
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@ -784,6 +784,7 @@ 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]
int32_t maxRwSpeed = 65000; // 0.1 RPM
int32_t stictionSpeed = 100; // RPM int32_t stictionSpeed = 100; // RPM
int32_t stictionReleaseSpeed = 120; // RPM int32_t stictionReleaseSpeed = 120; // RPM
double stictionTorque = 0.0006; double stictionTorque = 0.0006;

9
mission/controller/acs/ActuatorCmd.cpp
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@ -30,7 +30,7 @@ void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled, dou
void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2, void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2,
int32_t speedRw3, const double *rwTorque, int32_t *rwCmdSpeed, int32_t speedRw3, const double *rwTorque, int32_t *rwCmdSpeed,
double sampleTime, double inertiaWheel) { double sampleTime, int32_t maxRwSpeed, double inertiaWheel) {
using namespace Math; using namespace Math;
// Calculating the commanded speed in RPM for every reaction wheel // Calculating the commanded speed in RPM for every reaction wheel
@ -45,6 +45,13 @@ void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t spee
deltaSpeedInt[i] = std::round(deltaSpeed[i]); deltaSpeedInt[i] = std::round(deltaSpeed[i]);
} }
VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4); VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
for (uint8_t i = 0; i < 4; i++) {
if (rwCmdSpeed[i] > maxRwSpeed) {
rwCmdSpeed[i] = maxRwSpeed;
} else if (rwCmdSpeed[i] < -maxRwSpeed) {
rwCmdSpeed[i] = -maxRwSpeed;
}
}
VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4); VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
} }

2
mission/controller/acs/ActuatorCmd.h
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@ -29,7 +29,7 @@ class ActuatorCmd {
*/ */
void cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2, int32_t speedRw3, void cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2, int32_t speedRw3,
const double *rwTorque, int32_t *rwCmdSpeed, double sampleTime, const double *rwTorque, int32_t *rwCmdSpeed, double sampleTime,
double inertiaWheel); int32_t maxRwSpeed, double inertiaWheel);
/* /*
* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques * @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques