Control

Classes and functions for modeling 3 phase motors. More...

Files
file	sc_control.h
	Control functions.
file	sc_lambert.h
	Lambert method.
file	sc_orbit_mnvr.h
	Orbit maneuver algorithms.

Classes
class	Filter
struct	lambert_out
	Structure for storing the data output the Lambert TOF solver. More...
class	PD
class	PID3Axis
class	pm_machine_abc
	pm_machine_abc I% Assumes a 3 phase machine in a Y connection. More...
class	pm_machine_dq
	pm_machine_dq More...
class	pm_machine_torque_control
	pm_machine_torque_control More...
class	pm_machine_ukf
	pm_machine_ukf Implement space vector pulsewidth modulation. More...
class	PulseWidthLP
	Multi-Thruster Pulsewidth Solution using Linear Program Formulation. More...
class	relative_state_from_points
	Generates transformaton matrix and offset plus camera parameters from points. More...
class	state_space
	State space model. More...
class	svpwm
	SVPWM Implement space vector pulsewidth modulation. More...
class	UKF
	Unscented Kalman Filter class. More...

Typedefs
typedef struct lambert_out	lambert_out
	Structure for storing the data output the Lambert TOF solver.

Functions
ml_matrix	momentum_unloading (const ml_matrix &u, const ml_matrix &b, double gain, const ml_matrix &h, double tol=0.2)
	Momentum management using magnetic torquers. More...
ml_matrix	momentum_with_rwa_body (const ml_matrix &inr, const ml_matrix &omega_body, const ml_matrix &omega_rwa, const ml_matrix &u_rwa, double inr_rwa)
	Momentum with RWA in the body frame. More...
ml_matrix	magnetic_control (const ml_matrix &torque_demand, const ml_matrix &u_magnetic_torquer, const ml_matrix &b_field, double cost)
	Magnetic torquer control.
ml_matrix	discrete_state_transition_matrix (const ml_matrix &w, double dT)
	State transition matrix. More...
ml_matrix	attitude_propagation_discrete (const ml_matrix &w, const ml_matrix &q, double dT)
	State propagation. More...
lambert_out	lambert_tof (const ml_matrix &r1, const ml_matrix &r2, double dT, int orbitType=1, double mu=3.98600436e5, double tol=1e-10, int maxIter=20)
	Solves the Lambert time of flight problem using Battin's method. More...

Detailed Description

Classes and functions for modeling 3 phase motors.

Momentum management using magnetic torquers.

Classes and functions for perfoming control calculations.

This includes all classes and functions related to guidance, estimation, control, and distribution.

Function Documentation

momentum_unloading()

ml_matrix momentum_unloading	(	const ml_matrix &	u,
		const ml_matrix &	b,
		double	gain,
		const ml_matrix &	h,
		double	tol
	)

Momentum management using magnetic torquers.

Parameters

u	(3,n) Dipole unit vectors in the frame of h
b	(3,1) Magnetic field vector in the frame of h
gain	Proportional gain
h	(3,1) Momentum
tol	Tolerance on using a dipole

Returns

m (n,1) Dipole moments

References pinv().

momentum_with_rwa_body()

ml_matrix momentum_with_rwa_body	(	const ml_matrix &	inr,
		const ml_matrix &	omega_body,
		const ml_matrix &	omega_rwa,
		const ml_matrix &	u_rwa,
		double	inr_rwa
	)

Momentum with RWA in the body frame.

Momentum with RWA in the body frame.

Parameters

inr	(3,3) Inertia matrix
omega_body	(3,1) Body rate
omega_rwa	(n,1) RWA rotation rate
u_rwa	(3,n) RWA unit vectors
inr_rwa	Tolerance on using a dipole

Returns

h (3,1) Angular momentum in the body frame

discrete_state_transition_matrix()

ml_matrix discrete_state_transition_matrix	(	const ml_matrix &	w,
		double	dT
	)

State transition matrix.

State transition matrix.

The plant equations are qDot = -skew(w)*angle + b/2 bDot = zeros(3,3); This function uses a 5th order expansion. For |w| = 1 this routine will be equivalent to C2DZOH to 1e-14 if dT < 0.03125 sec.

Parameters

w	(3,1) Rate vector
dT	(1,1) Time step

Returns

phi (6,6) State transition matrix

References skew_symmetric().

attitude_propagation_discrete()

ml_matrix attitude_propagation_discrete	(	const ml_matrix &	w,
		const ml_matrix &	q,
		double	dT
	)

State propagation.

State propagation.

Parameters

w	(3,1) Angular velocity
q	(4,1) Old quaternion
dT	(1,1) Time change

Returns

q (4,1) Updated quaternion

References skew_symmetric().

lambert_tof()

lambert_out lambert_tof	(	const ml_matrix &	r1,
		const ml_matrix &	r2,
		double	dT,
		int	orbit_type,
		double	mu,
		double	tol,
		int	maxIter
	)

Solves the Lambert time of flight problem using Battin's method.

Solves the Lambert time of flight problem using Battin's method.

Parameters

data	Orbital elements for the satellite.
pos	position "r" matrix to be returned (km).
vel	velocity "v" matrix to be returned (km/s).

Orbit insertion maneuver

Parameters

data	Orbital elements for the satellite.
pos	position "r" matrix to be returned (km).
vel	velocity "v" matrix to be returned (km/s).

Bilinear tangent

Parameters

data	Orbital elements for the satellite.
pos	position "r" matrix to be returned (km).
vel	velocity "v" matrix to be returned (km/s).

Lambert's law maneuver

Parameters

r1	initial position.
r2	final position.
dT	time of flight.
orbit_type	1 = posigrade, -1 = retrograde.
mu	gravitational parameter.
tol	tolerance for iteration.
maxIter	Maximum number of iterations.

Returns

out lambert data structure

References lambert_out::a, Lambert(), lambert_out::p, lambert_out::tol, and lambert_out::vT.