SimulationFramework/sccontrol/sc__pid3axis_8h_source.html

//-----------------------------------------------------------------------------------------

//     A PID Based 3 axis controller for spacecraft

//-----------------------------------------------------------------------------------------

//     Copyright (c) 2009 Princeton Satellite Systems.  All rights reserved.

//-----------------------------------------------------------------------------------------


#ifndef __PID3AXIS__

#define __PID3AXIS__


#ifdef AS_OS_WINDOWS

        #include "matrixlib.h"

#else

        #include <MatrixLib/MatrixLib.h>

#endif


class PID3Axis

{


        private:

        ml_matrix gain_a_pitch;

        ml_matrix gain_b_pitch;

        ml_matrix gain_c_pitch;

        ml_matrix gain_d_pitch;

        ml_matrix gain_a_roll;

        ml_matrix gain_b_roll;

        ml_matrix gain_c_roll;

        ml_matrix gain_d_roll;

        ml_matrix gain_a_yaw;

        ml_matrix gain_b_yaw;

        ml_matrix gain_c_yaw;

        ml_matrix gain_d_yaw;

                ml_matrix gain_l;

                ml_matrix accel_sat;

                ml_matrix x_roll;

                ml_matrix x_yaw;

                ml_matrix x_pitch;

                ml_matrix axis_command;

                ml_matrix inertia;

                double angle_command;

                int rotate_command;

                int align_command;

        int initialized;

        int pitch_initialized;

        int roll_initialized;

        int yaw_initialized;

                ml_matrix body_vector_command;

                ml_matrix eci_vector_command;

                ml_matrix q_target_last;

                double max_angle;


        public:

                ml_matrix q_desired_state;


                                        PID3Axis( void );

        void            Initialize( ml_matrix a, ml_matrix b, ml_matrix c, ml_matrix d, double angle, ml_matrix inr );

        void            InitializePitch( ml_matrix a, ml_matrix b, ml_matrix c, ml_matrix d, double angle, ml_matrix inr );

        void            InitializeRoll( ml_matrix a, ml_matrix b, ml_matrix c, ml_matrix d, double angle, ml_matrix inr );

        void            InitializeYaw( ml_matrix a, ml_matrix b, ml_matrix c, ml_matrix d, double angle, ml_matrix inr );

                void            AddWindupCompensation( ml_matrix l, ml_matrix saturation );

                ml_matrix       Update( ml_matrix q_eci_to_body );

                void            Reset( void );

                void            SetRotateCommand( ml_matrix axis, double angle );

                void            SetAlignCommand( ml_matrix body_vector, ml_matrix eci_vector );

        void            SetAlignAndRotateCommand( ml_matrix body_vector, ml_matrix eci_vector, double angle );

                void            SetInertia( ml_matrix inertia ){this->inertia = inertia;};

                void            SetDesQuat( ml_matrix qdes );

                ml_matrix       GetDesQuat( void );

                bool        GetStatus( void );

        ml_matrix   GetInertia( void );

        void        SetMaximumDeltaAngle( double delta ){max_angle = delta;};


};


#endif

PID3Axis
Definition: sc_pid3axis.h:33

PID3Axis::Reset
void Reset(void)
Reset the pid.
Definition: sc_pid3axis.cc:150

PID3Axis::Update
ml_matrix Update(ml_matrix q_eci_to_body)
Update the output.
Definition: sc_pid3axis.cc:271

PID3Axis::Initialize
void Initialize(ml_matrix a, ml_matrix b, ml_matrix c, ml_matrix d, double angle, ml_matrix inr)
Initialize all state matrices.
Definition: sc_pid3axis.cc:43

PID3Axis::GetStatus
bool GetStatus(void)
Get the PID status.
Definition: sc_pid3axis.cc:124

PID3Axis::SetRotateCommand
void SetRotateCommand(ml_matrix axis, double angle)
Set the rotate command.
Definition: sc_pid3axis.cc:165

PID3Axis::GetInertia
ml_matrix GetInertia(void)
Get the inertia.
Definition: sc_pid3axis.cc:259

PID3Axis::q_desired_state
ml_matrix q_desired_state
Target quaternion.
Definition: sc_pid3axis.h:98

PID3Axis::SetAlignCommand
void SetAlignCommand(ml_matrix body_vector, ml_matrix eci_vector)
Set the align command.
Definition: sc_pid3axis.cc:184

PID3Axis::AddWindupCompensation
void AddWindupCompensation(ml_matrix l, ml_matrix saturation)
Add windup compensation.
Definition: sc_pid3axis.cc:136

PID3Axis::InitializeYaw
void InitializeYaw(ml_matrix a, ml_matrix b, ml_matrix c, ml_matrix d, double angle, ml_matrix inr)
Initialize yaw matrices.
Definition: sc_pid3axis.cc:103

PID3Axis::SetDesQuat
void SetDesQuat(ml_matrix qdes)
Set the desired quaternion.
Definition: sc_pid3axis.cc:242

PID3Axis::GetDesQuat
ml_matrix GetDesQuat(void)
Set the desired quaternion to the default.
Definition: sc_pid3axis.cc:251

PID3Axis::SetMaximumDeltaAngle
void SetMaximumDeltaAngle(double delta)
Set the maximum delta per step.
Definition: sc_pid3axis.h:133

PID3Axis::SetAlignAndRotateCommand
void SetAlignAndRotateCommand(ml_matrix body_vector, ml_matrix eci_vector, double angle)
Set the align and rotate command.
Definition: sc_pid3axis.cc:210

PID3Axis::InitializePitch
void InitializePitch(ml_matrix a, ml_matrix b, ml_matrix c, ml_matrix d, double angle, ml_matrix inr)
Initialize pitch matrices.
Definition: sc_pid3axis.cc:69

PID3Axis::SetInertia
void SetInertia(ml_matrix inertia)
Set the inertia.
Definition: sc_pid3axis.h:123

PID3Axis::InitializeRoll
void InitializeRoll(ml_matrix a, ml_matrix b, ml_matrix c, ml_matrix d, double angle, ml_matrix inr)
Initialize roll matrices.
Definition: sc_pid3axis.cc:86

PID3Axis::PID3Axis
PID3Axis(void)
Constructor.
Definition: sc_pid3axis.cc:17