Class VSCMGConfigMessage
- Namespace
- NominalSystems.Messages
- Assembly
- NominalSystems.Messages.dll
Message structure used to define the individual RW configuration data message
public sealed class VSCMGConfigMessage : Message<VSCMGConfigPayload>- Inheritance
-
Message<VSCMGConfigPayload>VSCMGConfigMessage
- Inherited Members
-
Message<VSCMGConfigPayload>.PayloadMessage<VSCMGConfigPayload>.ToString()Message<VSCMGConfigPayload>.PayloadTypeMessage<VSCMGConfigPayload>.PayloadObject
Constructors
VSCMGConfigMessage()
Default constructor
public VSCMGConfigMessage()Properties
AOmega
[-] Parameter used in fully-coupled jitter back substitution
[Units("")]
public Vector3 AOmega { get; set; }Property Value
Agamma
[-] Parameter used in fully-coupled jitter back substitution
[Units("")]
public Vector3 Agamma { get; set; }Property Value
BOmega
[-] Parameter used in fully-coupled jitter back substitution
[Units("")]
public Vector3 BOmega { get; set; }Property Value
Bgamma
[-] Parameter used in fully-coupled jitter back substitution
[Units("")]
public Vector3 Bgamma { get; set; }Property Value
COmega
[-] Parameter used in fully-coupled jitter back substitution
[Units("")]
public double COmega { get; set; }Property Value
Cgamma
[-] Parameter used in fully-coupled jitter back substitution
[Units("")]
public double Cgamma { get; set; }Property Value
CurrentTorqueGimbal
[N*m] Current gimbal motor torque
[Units("")]
public double CurrentTorqueGimbal { get; set; }Property Value
CurrentTorqueWheel
[N*m] Current wheel motor torque
[Units("N-m")]
public double CurrentTorqueWheel { get; set; }Property Value
D
[m] Wheel centre of mass offset from the wheel spin axis Defined by d = staticImbalanceParameter / wheelMass
[Units("m")]
public double D { get; set; }Property Value
DOmega
[-] Parameter used in fully-coupled jitter back substitution
[Units("")]
public double DOmega { get; set; }Property Value
Dgamma
[-] Parameter used in fully-coupled jitter back substitution
[Units("")]
public double Dgamma { get; set; }Property Value
DynamicImbalance
[kg*m^2] Dynamic imbalance parameter. Used to detremine the dynamic imbalance torque for the simple jitter model. Equivalent to wheel x-z moment of inertia I13 for the imbalanced model.
[Units("kg-m^2")]
public double DynamicImbalance { get; set; }Property Value
EOmega
[-] Parameter used in fully-coupled jitter back substitution
[Units("")]
public double EOmega { get; set; }Property Value
Egamma
[-] Parameter used in fully-coupled jitter back substitution
[Units("")]
public double Egamma { get; set; }Property Value
FrictionCoulombGimbal
[N*m] Maximum gimbal friction. Friction is linear with speed up to this magnitude
[Units("")]
public double FrictionCoulombGimbal { get; set; }Property Value
FrictionCoulombWheel
[N*m] Maximum wheel friction. Friction is linear with speed up to this magnitude
[Units("N-m")]
public double FrictionCoulombWheel { get; set; }Property Value
Gamma
[rad] Gimbal angle
[Units("rad")]
public double Gamma { get; set; }Property Value
GammaDot
[rad/s] Gimbal rate
[Units("rad/s")]
public double GammaDot { get; set; }Property Value
GammaDotMax
[rad/s] Maximum gimbal speed
[Units("")]
public double GammaDotMax { get; set; }Property Value
GgHat_B
[-] Gimbal spin axis unit vector ggHat in body-frame coordinates
[Units("")]
public Vector3 GgHat_B { get; set; }Property Value
GimbalLinearFrictionRatio
[-] Fraction of the maximum gimbal speed at which the friction force saturates
[Units("")]
public double GimbalLinearFrictionRatio { get; set; }Property Value
GimbalMass
[kg] Mass of the gimbal
[Units("kg")]
public double GimbalMass { get; set; }Property Value
GravityTorqueGimbal_g
[N*m] Torque exerted by gravity on the gimbal about the gimbal spin axis
[Units("")]
public double GravityTorqueGimbal_g { get; set; }Property Value
GravityTorqueWheel_s
[N*m] Torque exerted by gravity on the wheel about the wheel spin axis
[Units("")]
public double GravityTorqueWheel_s { get; set; }Property Value
GsHat0_B
[-] Wheel spin axis unit vector in body-frame coordinates, measured with gimbal angle gamma = 0
[Units("")]
public Vector3 GsHat0_B { get; set; }Property Value
GtHat0_B
[-] Torque axis unit vector gtHat in body-frame coordinates, measured with gimbal angle gamma = 0
[Units("")]
public Vector3 GtHat0_B { get; set; }Property Value
GtHat_B
[-] Torque axis unit vector gtHat in body-frame coordinates
[Units("")]
public Vector3 GtHat_B { get; set; }Property Value
IG1
[kg*m^2] Gimbal moment of inertia about the wheel spin axis gsHat, at the gimbal origin
[Units("kg-m^2")]
public double IG1 { get; set; }Property Value
IG12
[kg*m^2] Gimbal x-y moment of inertia in the gimbal frame at the gimbal origin
[Units("kg-m^2")]
public double IG12 { get; set; }Property Value
IG13
[kg*m^2] Gimbal x-z moment of inertia in the gimbal frame at the gimbal origin
[Units("kg-m^2")]
public double IG13 { get; set; }Property Value
IG2
[kg*m^2] Gimbal moment of inertia about the torque axis gtHat, at the gimbal origin
[Units("kg-m^2")]
public double IG2 { get; set; }Property Value
IG23
[kg*m^2] Gimbal y-z moment of inertia in the gimbal frame at the gimbal origin
[Units("kg-m^2")]
public double IG23 { get; set; }Property Value
IG3
[kg*m^2] Gimbal moment of inertia about the gimbal spin axis ggHat axis, at the gimbal origin
[Units("kg-m^2")]
public double IG3 { get; set; }Property Value
IGPntGc_B
[kg*m^2] Inertia tensor of the gimbal at the gimbal centre of mass, in body-frame coordinates
[Units("")]
public Matrix3 IGPntGc_B { get; set; }Property Value
IPrimeGPntGc_B
[kg*m^2] Time derivative of the gimbal inertia tensor at the gimbal centre of mass, in body-frame coordinates
[Units("")]
public Matrix3 IPrimeGPntGc_B { get; set; }Property Value
IPrimeWPntWc_B
[kg*m^2] Time derivative of the wheel inertia tensor at the wheel centre of mass, in body-frame coordinates
[Units("")]
public Matrix3 IPrimeWPntWc_B { get; set; }Property Value
IV1
[kg*m^2] Total wheel and gimbal moment of inertia about gsHat at the gimbal origin
[Units("kg-m^2")]
public double IV1 { get; set; }Property Value
IV2
[kg*m^2] Total wheel and gimbal moment of inertia about gtHat at the gimbal origin
[Units("kg-m^2")]
public double IV2 { get; set; }Property Value
IV3
[kg*m^2] Total wheel and gimbal moment of inertia about ggHat at the gimbal origin
[Units("kg-m^2")]
public double IV3 { get; set; }Property Value
IW1
[kg*m^2] Wheel moment of inertia about the spin axis gsHat (or W1), at the centre of rotation
[Units("kg-m^2")]
public double IW1 { get; set; }Property Value
IW13
[kg*m^2] Wheel x-z moment of inertia in the wheel frame at the centre of rotation Equivalent to the dynamic imbalance parameter
[Units("kg-m^2")]
public double IW13 { get; set; }Property Value
IW2
[kg*m^2] Wheel moment of inertia about the W2 axis, at the centre of rotation
[Units("kg-m^2")]
public double IW2 { get; set; }Property Value
IW3
[kg*m^2] Wheel moment of inertia about the W3 axis, at the centre of rotation
[Units("kg-m^2")]
public double IW3 { get; set; }Property Value
IWPntWc_B
[kg*m^2] Inertia tensor of the wheel at the wheel centre of mass, in body-frame coordinates
[Units("")]
public Matrix3 IWPntWc_B { get; set; }Property Value
L
[m] Height of the wheel spin axis above the gimbal origin Is treated as 0 for the Balanced model
[Units("")]
public double L { get; set; }Property Value
MaxTorqueGimbal
[N*m] Maximum gimbal motor torque
[Units("")]
public double MaxTorqueGimbal { get; set; }Property Value
MaxTorqueWheel
[N*m] Maximum wheel motor torque
[Units("N-m")]
public double MaxTorqueWheel { get; set; }Property Value
MinTorqueGimbal
[N*m] Minimum gimbal motor torque
[Units("")]
public double MinTorqueGimbal { get; set; }Property Value
MinTorqueWheel
[N*m] Minimum wheel motor torque
[Units("N-m")]
public double MinTorqueWheel { get; set; }Property Value
Omega
[rad/s] Wheel speed
[Units("rad/s")]
public double Omega { get; set; }Property Value
OmegaMax
[rad/s] Maximum wheel speed
[Units("rad/s")]
public double OmegaMax { get; set; }Property Value
P
[-] Parameter used in fully-coupled jitter back substitution
[Units("")]
public Vector3 P { get; set; }Property Value
Q
[-] Parameter used in fully-coupled jitter back substitution
[Units("")]
public Vector3 Q { get; set; }Property Value
RGB_B
[m] Position of the gimbal relative to the body origin, in body-frame coordinates
[Units("m")]
public Vector3 RGB_B { get; set; }Property Value
RGcB_B
[m] Position of the gimbal centre of mass relative to the body origin, in body-frame coordinates
[Units("")]
public Vector3 RGcB_B { get; set; }Property Value
RGcG_B
[m] Position of the gimbal centre of mass relative to the gimbal origin, in body-frame coordinates
[Units("")]
public Vector3 RGcG_B { get; set; }Property Value
RGcG_G
[m] Position of the gimbal centre of mass relative to the gimbal origin, in gimbal-frame coordinates
[Units("")]
public Vector3 RGcG_G { get; set; }Property Value
RPrimeGcB_B
[m/s] Velocity of the gimbal centre of mass relative to the body origin, in body-frame coordinates
[Units("")]
public Vector3 RPrimeGcB_B { get; set; }Property Value
RPrimeTildeGcB_B
[m/s] Skew-symmetric matrix for rPrimeGcB_B
[Units("")]
public Matrix3 RPrimeTildeGcB_B { get; set; }Property Value
RPrimeTildeWcB_B
[m/s] Skew-symmetric matrix for rPrimeWcB_B
[Units("")]
public Matrix3 RPrimeTildeWcB_B { get; set; }Property Value
RPrimeWcB_B
[m/s] Velocity of the wheel centre of mass relative to the body origin, in body-frame coordinates
[Units("")]
public Vector3 RPrimeWcB_B { get; set; }Property Value
RTildeGcB_B
[m] Skew-symmetric matrix for rGcB_B
[Units("")]
public Matrix3 RTildeGcB_B { get; set; }Property Value
RTildeWcB_B
[m] Skew-symmetric matrix for rWcB_B
[Units("")]
public Matrix3 RTildeWcB_B { get; set; }Property Value
RWcB_B
[m] Position of the wheel centre of mass relative to the body origin, in body-frame coordinates
[Units("")]
public Vector3 RWcB_B { get; set; }Property Value
RWcG_B
[m] Position of the wheel centre of mass relative to the gimbal origin, in body-frame coordinates
[Units("")]
public Vector3 RWcG_B { get; set; }Property Value
RhoG
[-] Ratio of gimbal mass to total mass of the wheel and gimbal
[Units("")]
public double RhoG { get; set; }Property Value
RhoW
[-] Ratio of wheel mass to total mass of the wheel and gimbal
[Units("")]
public double RhoW { get; set; }Property Value
S
[-] Parameter used in fully-coupled jitter back substitution
[Units("")]
public double S { get; set; }Property Value
StaticImbalance
[kg*m] Static imbalance parameter. Used to determine the wheel centre of mass offset. Used to determine the static imabalance force for the simple jitter model
[Units("kg-m")]
public double StaticImbalance { get; set; }Property Value
Theta
[rad] Wheel angle
[Units("rad")]
public double Theta { get; set; }Property Value
VSCMGModelType
The type of VSCMG model
[Units("-")]
public VSCMGType VSCMGModelType { get; set; }Property Value
VSCMGStatus
The status of the operational model
[Units("-")]
public VSCMGOperatingStatus VSCMGStatus { get; set; }Property Value
W2Hat0_B
[-] Unit vector 2 of the wheel coordinate frame in body-frame coordinates, measured with gimbal angle gamma = 0 and wheel angle theta = 0
[Units("")]
public Vector3 W2Hat0_B { get; set; }Property Value
W2Hat_B
[-] Unit vector 2 of the wheel coordinate frame in body-frame coordinates. If using the imbalanced model, this axis points through the centre of mass of the wheel
[Units("")]
public Vector3 W2Hat_B { get; set; }Property Value
W3Hat0_B
[-] Unit vector 3 of the wheel coordinate frame in body-frame coordinates, measured with gimbal angle gamma = 0 and wheel angle theta = 0
[Units("")]
public Vector3 W3Hat0_B { get; set; }Property Value
W3Hat_B
[-] Unit vector 3 of the wheel coordinate frame in body-frame coordinates
[Units("")]
public Vector3 W3Hat_B { get; set; }Property Value
WheelLinearFrictionRatio
[-] Fraction of the maximum wheel speed at which the friction force saturates
[Units("%")]
public double WheelLinearFrictionRatio { get; set; }Property Value
WheelMass
[kg] Mass of the wheel
[Units("kg")]
public double WheelMass { get; set; }Property Value
WheelSpinAxis_B
[-] Wheel spin axis unit vector gsHat in body-frame coordinates
[Units("")]
public Vector3 WheelSpinAxis_B { get; set; }Property Value
l
[m] Distance of the wheel centre of mass from the gimbal spin axis along the wheel spin axis Is treated as 0 for the Balanced model
[Units("")]
public double l { get; set; }Property Value
massV
[kg] Combined mass of the wheel and gimbal
[Units("kg")]
public double massV { get; set; }