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Final Version of the ACS Controller #367

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muellerr merged 78 commits from eggert/acs into develop 2023-02-08 13:50:11 +01:00
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135 changed files with 3888 additions and 5194 deletions
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89
mission/controller/AcsController.cpp
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@ -271,53 +271,106 @@ void AcsController::performControlOperation() {
double targetQuat[4] = {0, 0, 0, 0}, refSatRate[3] = {0, 0, 0};
double quatRef[4] = {0, 0, 0, 0};
uint8_t enableAntiStiction = true;
double quatErrorComplete[4] = {0, 0, 0, 0}, quatError[3] = {0, 0, 0},
deltaRate[3] = {0, 0, 0}; // ToDo: check if pointer needed
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
double torquePtgRws[4] = {0, 0, 0, 0}, rwTrqNs[4] = {0, 0, 0, 0};
double torqueRws[4] = {0, 0, 0, 0}, torqueRwsScaled[4] = {0, 0, 0, 0};
double mgtDpDes[3] = {0, 0, 0}, dipolUnits[3] = {0, 0, 0}; // Desaturation Dipol
switch (submode) {
case SUBMODE_IDLE:
guidance.sunQuatPtg(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed, now,
targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef, 4 * sizeof(double));
enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError, deltaRate);
ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, quatError, deltaRate, *rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(&acsParameters.targetModeControllerParameters,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
ptgCtrl.ptgDesaturation(&acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
break;
case SUBMODE_PTG_TARGET:
guidance.targetQuatPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now,
targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef, 4 * sizeof(double));
enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError, deltaRate);
ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, quatError, deltaRate, *rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(&acsParameters.targetModeControllerParameters,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
ptgCtrl.ptgDesaturation(&acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
break;
case SUBMODE_PTG_TARGET_GS:
guidance.targetQuatPtgGs(&sensorValues, &mekfData, &susDataProcessed, &gpsDataProcessed,
now, targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.targetModeControllerParameters.quatRef, 4 * sizeof(double));
enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError, deltaRate);
ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, quatError, deltaRate, *rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(&acsParameters.targetModeControllerParameters,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
ptgCtrl.ptgDesaturation(&acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
break;
case SUBMODE_PTG_NADIR:
guidance.quatNadirPtgThreeAxes(&sensorValues, &gpsDataProcessed, &mekfData, now, targetQuat,
refSatRate);
std::memcpy(quatRef, acsParameters.nadirModeControllerParameters.quatRef, 4 * sizeof(double));
enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError, deltaRate);
ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, quatError, deltaRate, *rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(&acsParameters.nadirModeControllerParameters,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
ptgCtrl.ptgDesaturation(&acsParameters.nadirModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
break;
case SUBMODE_PTG_INERTIAL:
guidance.inertialQuatPtg(targetQuat, refSatRate);
std::memcpy(quatRef, acsParameters.inertialModeControllerParameters.quatRef, 4 * sizeof(double));
enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError, deltaRate);
ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, quatError, deltaRate, *rwPseudoInv, torquePtgRws);
ptgCtrl.ptgNullspace(&acsParameters.inertialModeControllerParameters,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
ptgCtrl.ptgDesaturation(&acsParameters.inertialModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
mgmDataProcessed.mgmVecTot.isValid(), mekfData.satRotRateMekf.value,
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
break;
}
double quatErrorComplete[4] = {0, 0, 0, 0}, quatError[3] = {0, 0, 0},
deltaRate[3] = {0, 0, 0}; // ToDo: check if pointer needed
guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError, deltaRate);
double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
double torquePtgRws[4] = {0, 0, 0, 0}, mode = 0;
ptgCtrl.ptgLaw(mode, quatError, deltaRate, *rwPseudoInv, torquePtgRws);
double rwTrqNs[4] = {0, 0, 0, 0};
ptgCtrl.ptgNullspace(
&(sensorValues.rw1Set.currSpeed.value), &(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value), &(sensorValues.rw4Set.currSpeed.value), rwTrqNs);
double torqueRws[4] = {0, 0, 0, 0}, torqueRwsScaled[4] = {0, 0, 0, 0};
VectorOperations<double>::add(torquePtgRws, rwTrqNs, torqueRws, 4);
actuatorCmd.scalingTorqueRws(torqueRws, torqueRwsScaled);
if ( enableAntiStiction ) {
bool rwAvailable[4] = {true, true, true, true}; // WHICH INPUT SENSOR SET?
@ -333,12 +386,6 @@ void AcsController::performControlOperation() {
&(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value),
&(sensorValues.rw4Set.currSpeed.value), torqueRwsScaled, cmdSpeedRws);
double mgtDpDes[3] = {0, 0, 0}, dipolUnits[3] = {0, 0, 0}; // Desaturation Dipol
ptgCtrl.ptgDesaturation(mgmDataProcessed.mgmVecTot.value, mgmDataProcessed.mgmVecTot.isValid(),
mekfData.satRotRateMekf.value, &(sensorValues.rw1Set.currSpeed.value),
&(sensorValues.rw2Set.currSpeed.value),
&(sensorValues.rw3Set.currSpeed.value),
&(sensorValues.rw4Set.currSpeed.value), mgtDpDes);
actuatorCmd.cmdDipolMtq(mgtDpDes, dipolUnits);
int16_t cmdDipolUnitsInt[3] = {0, 0, 0};

8
mission/controller/acs/control/PtgCtrl.cpp
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@ -21,14 +21,12 @@ PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { loadAcsParameters(acsParameter
PtgCtrl::~PtgCtrl() {}
void PtgCtrl::loadAcsParameters(AcsParameters *acsParameters_) {
// TODO: Here correct Parameters have to be loaded according to current submode
pointingLawParameters = &(acsParameters_->targetModeControllerParameters);
inertiaEIVE = &(acsParameters_->inertiaEIVE);
rwHandlingParameters = &(acsParameters_->rwHandlingParameters);
rwMatrices = &(acsParameters_->rwMatrices);
}
void PtgCtrl::ptgLaw(const double mode, const double *qError, const double *deltaRate,
void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters * pointingLawParameters, const double *qError, const double *deltaRate,
const double *rwPseudoInv, double *torqueRws) {
//------------------------------------------------------------------------------------------------
// Compute gain matrix K and P matrix
@ -108,7 +106,7 @@ void PtgCtrl::ptgLaw(const double mode, const double *qError, const double *delt
VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4);
}
void PtgCtrl::ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double *satRate,
void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters * pointingLawParameters, double *magFieldEst, bool magFieldEstValid, double *satRate,
int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2,
int32_t *speedRw3, double *mgtDpDes) {
if (!(magFieldEstValid) || !(pointingLawParameters->desatOn)) {
@ -139,7 +137,7 @@ void PtgCtrl::ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double
VectorOperations<double>::mulScalar(crossMomentumMagField, factor, mgtDpDes, 3);
}
void PtgCtrl::ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1,
void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters * pointingLawParameters, const int32_t *speedRw0, const int32_t *speedRw1,
const int32_t *speedRw2, const int32_t *speedRw3, double *rwTrqNs) {
double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
double wheelMomentum[4] = {0, 0, 0, 0};

11
mission/controller/acs/control/PtgCtrl.h
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@ -41,14 +41,14 @@ class PtgCtrl {
/* @brief: Calculates the needed torque for the pointing control mechanism
* @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
*/
void ptgLaw(const double mode, const double *qError, const double *deltaRate,
void ptgLaw(AcsParameters::PointingLawParameters * pointingLawParameters, const double *qError, const double *deltaRate,
const double *rwPseudoInv, double *torqueRws);
void ptgDesaturation(double *magFieldEst, bool magFieldEstValid, double *satRate,
int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2, int32_t *speedRw3,
double *mgtDpDes);
void ptgDesaturation(AcsParameters::PointingLawParameters * pointingLawParameters, double *magFieldEst,
bool magFieldEstValid, double *satRate, int32_t *speedRw0, int32_t *speedRw1,
int32_t *speedRw2, int32_t *speedRw3, double *mgtDpDes);
void ptgNullspace(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
void ptgNullspace(AcsParameters::PointingLawParameters * pointingLawParameters, const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
const int32_t *speedRw3, double *rwTrqNs);
/* @brief: Commands the stiction torque in case wheel speed is to low
@ -59,7 +59,6 @@ class PtgCtrl {
void rwAntistiction(const bool *rwAvailable, const int32_t *omegaRw, double *torqueCommand);
private:
AcsParameters::PointingLawParameters *pointingLawParameters;
AcsParameters::RwHandlingParameters *rwHandlingParameters;
AcsParameters::InertiaEIVE *inertiaEIVE;
AcsParameters::RwMatrices *rwMatrices;