Path: SCPro/ProControl
% Control system
This control system does small angle attitude control using reaction
wheels and momentum unloading using thrusters. Momentum unloading is a
PI controller. Attitude control is a PID controller.
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d = ACS;
[d,tREA,tRWA] = ACSRWAAndTorquers(x,d)
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Inputs
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x (:,1) State vector [r;v;q;omega;omegaRWA;angleGyro]
d (.) Data structure
.dT (1,1) Time step (s)
.inr (3,3) Inertia matrix (kg-m^2)
.kM (1,1) Momentum unloading forward gain (Nm/Nms)
.tauI (1,1) Momentum unloading integral time constant (s)
.inrRWA (1,1) Reaction wheel inertia (kg-m^2)
.angleOld (3,1) Stored gyro angle (rad)
.hI (3,1) Integral of the ECI momentum (Nms^2)
.ECIToBody (4,1) Quaternion from ECI to body
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Outputs
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d (.) Data structure
tREA (3,1) Torque demand for the thrusters (Rocket Engine Assemblies)
tRWA (3,1) Torque demand for the thrusters (Reaction wheel Assemblies)
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Copyright (c) 2022 Princeton Satellite Systems, Inc.
All rights reserved.
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Since version 2022.1
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Common: Quaternion/QForm Common: Quaternion/QTForm
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