Test the smart reaction wheel model.

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See also Plot2D, TimeGUI, RK4, RWASmart
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Contents

%-------------------------------------------------------------------------------
%   Copyright (c) 1999-2000 Princeton Satellite Systems, Inc.
%   All rights reserved.
%-------------------------------------------------------------------------------

Global for the TimeGUI

%------------------------
global simulationAction
simulationAction = ' ';

Simulation parameters

%----------------------
dT    = 0.0125;
nSim  = 300;

Input the friction model

%-------------------------
d = RWASmart('get default datastructure');

d.friction(1).fStatic   = 0.005;
d.friction(1).fCoulomb  = 0.005/2;
d.friction(1).vStribeck = 0.1;
d.friction(1).sigma0    = 1;
d.friction(1).sigma1    = 1e-4;
d.friction(1).sigma2    = 4.0585e-05;
d.friction(1).maxC      = 0.1/dT;
d.nWheels               = 2;

d.friction(2)           = d.friction(1);

Reinitialize

%-------------
RWASmart( 'initialize', d );

Initialize the time display

%----------------------------
[ ratioRealTime, tToGoMem ] =  TimeGUI( nSim, 0, [], 0, dT, 'RWA Smart Simulation' );

Initial conditions

%-------------------
x     = [0;0;0;0;0;0];
xPlot = zeros(22,nSim);
t     = 0;

Commanded voltage

%------------------
RWASmart( 'put data word', [-100;100] );

for k = 1:nSim

             RWASmart( 'set tachometer states',  struct( 'omega', x(1:2), 'angle', x(5:6)) );
  tachWord = RWASmart( 'get tachometer word' );

  % Display the status message
  %---------------------------
  [ ratioRealTime, tToGoMem ] = TimeGUI( nSim, k, tToGoMem, ratioRealTime, dT );

  x          = RK4( 'RWASmart', x, dT, [0;0] );
  tPlot(k)   = t;

  xPlot(:,k) = [x;...
                RWASmart( 'get friction torque' );...
                RWASmart( 'get torque'          );...
                RWASmart( 'get power'           );...
                RWASmart( 'get motor current'   );...
                RWASmart( 'get motor voltage'   );...
                tachWord(1).direction;...
                tachWord(1).count;...
                tachWord(1).scaling;...
                tachWord(2).direction;...
                tachWord(2).count;...
                tachWord(2).scaling];

  % Update the time
  %----------------
  t  =  t + dT;

  % Time control
  %-------------
  switch simulationAction
    case 'pause'
      pause
      simulationAction = ' ';
    case 'stop'
      return;
    case 'plot'
      break;
  end

end

RWASmart( 'quit' );

yLbl = ['Omega    ';...
        'Omega    ';...
        'Bristle  ';...
        'Bristle  ';...
        'Angle    ';...
        'Angle    ';...
        'Friction ';...
        'Friction ';...
        'Torque   ';...
        'Torque   ';...
        'Power    ';...
        'Power    ';...
        'Current  ';...
        'Current  ';...
        'Voltage  ';...
        'Voltage  ';
        'Direction';...
        'Count    ';...
        'Scaling  '];

Plot2D( tPlot, xPlot( 1: 6,1:k), 'Time (sec)', yLbl( 1: 6,:), 'RWA States')
Plot2D( tPlot, xPlot( 7:10,1:k), 'Time (sec)', yLbl( 7:10,:), 'RWA Torque')
Plot2D( tPlot, xPlot(11:16,1:k), 'Time (sec)', yLbl(11:16,:), 'RWA Motor')
Plot2D( tPlot, xPlot(17:19,1:k), 'Time (sec)', yLbl(17:19,:), 'RWA Tach 1')
Plot2D( tPlot, xPlot(20:22,1:k), 'Time (sec)', yLbl(17:19,:), 'RWA Tach 2')


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% PSS internal file version information
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Published with MATLAB® R2020a