Path: SC/Control
% Computes forces and torques for a set a thrusters using off-pulsing.
Off-pulsing is used to produce delta-v and attitude control at the same
time.
Inputs are a torque vector, the desired fraction of the time each
thruster is on for delta-v, the set of thrusters to be used for
attitude control and a data structure. If a feasible solution is not
reached the control is not possible.
Type
ThrusterCommand
for a demo that shows pure attitude control and also off-pulsing for
delta-v and attitude control.
Note that some options to simplex are hard coded:
- All thruster costs are the same
- The maximum constraint is not applied
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Inputs
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t (3,1) Desired torque vector
pOn (1,:) Fraction of time thruster is on for delta-v
kACS (1,n) Set of ACS thrusters
d (.) Data structure
.uT (3,:) Thruster unit force vectors
.rT (3,:) Thruster locations
.thrust (1,:) Thrust magnitude
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Outputs
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force (3,1) Net force vector
torque (3,1) Net torque vector (should = t)
u (1,n) Fraction of time thruster is on
f (1,1) 1 means a feasible solution was reached
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Math: Analysis/Simplex Math: Linear/Cross
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