Class MRPFeedbackSoftware

Namespace

NominalSystems.Classes

Assembly

NominalSystems.Classes.dll

This module provides a general MRP feedback control law. This 3-axis control can asymptotically track a general reference attitude trajectory. The module is setup to work with or without N reaction wheels with general orientation. If the reaction wheel states are fed into this module, then the resulting RW gyroscopic terms are compensated for. If the wheel information is not present, then these terms are ignored.

public class MRPFeedbackSoftware : Software

Inheritance

object

Component

Software

MRPFeedbackSoftware

Inherited Members

Software.Enable()

Software.Disable()

Software.PrintFieldsToConsole()

Component.IsEnabled

Component.OnFinish(double)

Component.OnReset(double)

Component.OnPreAttachChild(Component)

Component.OnPreDetachChild(Component)

Component.OnPostAttachChild(Component)

Component.OnPostDetachChild(Component)

Component.IsChildTypeSupported(Type)

Component.IsModelTypeSupported(Type)

Component.OnEncodeMetadata(JObject)

Component.OnDecodeMetadata(JObject)

Component.Destroy(double)

Component.StopEvent(Guid)

Component.AddDelayEvent(Action, double)

Component.AddDelayEvent(Action<double>, double)

Component.AddRepeatEvent(Action, double)

Component.AddRepeatEvent(Action<double>, double)

Component.AddRepeatEvent(Action<double, double>, double)

Component.Add<T>()

Component.GetModel<T>()

Component.GetChild<T>(bool)

Component.GetParent<T>(bool)

Component.GetSystem<T>()

Component.GetChildren<T>(bool)

Component.RemoveChild<T>(T)

Component.FindObjectWithID(Guid)

Component.FindObjectWithID<T>(Guid)

Component.FindObjectWithType<T>()

Component.FindObjectsWithType<T>()

Component.IsRunning

Component.ID

Constructors

MRPFeedbackSoftware()

Default constructor for the software

public MRPFeedbackSoftware()

Fields

In_AttGuidMsg

Attitude guidance input message

public AttGuidMessage In_AttGuidMsg

Field Value

AttGuidMessage

In_RWArrayConfigMsg

RW parameter input message [OPTIONAL]

public RWArrayConfigMessage In_RWArrayConfigMsg

Field Value

RWArrayConfigMessage

In_RWAvailabilityMsg

RW availability input message [OPTIONAL]

public RWAvailabilityMessage In_RWAvailabilityMsg

Field Value

RWAvailabilityMessage

In_RWSpeedMsg

RW speed input message [OPTIONAL]

public RWSpeedMessage In_RWSpeedMsg

Field Value

RWSpeedMessage

In_VehicleConfigMsg

Vehicle configuration input message

public VehicleConfigMessage In_VehicleConfigMsg

Field Value

VehicleConfigMessage

IntegralLimit

[N*m] Integration limit to avoid wind-up issue

public double IntegralLimit

Field Value

double

K

[rad/sec] Proportional gain applied to MRP errors

public double K

Field Value

double

Ki

[N*m] Integration feedback error on rate error

public double Ki

Field Value

double

Out_CmdTorqueBodyMsg

Commanded spacecraft external control torque output message

public CmdTorqueBodyMessage Out_CmdTorqueBodyMsg

Field Value

CmdTorqueBodyMessage

P

[Nms] Rate error feedback gain applied

public double P

Field Value

double

Properties

KnownTorquePntB_B

[N*m] known external torque in body frame vector components

public Vector3 KnownTorquePntB_B { get; set; }

Property Value

Vector3

Methods

OnBegin(double)

Called when the 'Component' is beginning

protected override void OnBegin(double time)

Parameters

time double

current time (seconds)

OnUpdate(double, double)

Called when the 'Component' should update

protected override void OnUpdate(double time, double step)

Parameters

time double

current time (seconds)

step double

the time step (seconds)