Table of Contents

Class VSCMGConfigMessage

Namespace
NominalSystems.Messages
Assembly
NominalSystems.Messages.dll

[Nominal] Message used to define the individual VSCMG configuration data message.

public sealed class VSCMGConfigMessage : Message
Inheritance
VSCMGConfigMessage

Fields

AGamma

Parameter used in fully-coupled jitter back substitution

[Unit(UnitType.NONE)]
public Vector3 AGamma

Field Value

Vector3

AOmega

Parameter used in fully-coupled jitter back substitution

[Unit(UnitType.NONE)]
public Vector3 AOmega

Field Value

Vector3

BGamma

Parameter used in fully-coupled jitter back substitution

[Unit(UnitType.NONE)]
public Vector3 BGamma

Field Value

Vector3

BOmega

Parameter used in fully-coupled jitter back substitution

[Unit(UnitType.NONE)]
public Vector3 BOmega

Field Value

Vector3

CGamma

Parameter used in fully-coupled jitter back substitution

[Unit(UnitType.NONE)]
public double CGamma

Field Value

double

COmega

Parameter used in fully-coupled jitter back substitution

[Unit(UnitType.NONE)]
public double COmega

Field Value

double

CurrentTorqueGimbal

Current gimbal motor torque

[Unit(UnitType.NEWTON_METRE)]
public double CurrentTorqueGimbal

Field Value

double

CurrentTorqueWheel

Current wheel motor torque

[Unit(UnitType.NEWTON_METRE)]
public double CurrentTorqueWheel

Field Value

double

D

Wheel centre of mass offset from the wheel spin axis Defined by d = staticImbalanceParameter / wheelMass

[Unit(UnitType.METRE)]
public double D

Field Value

double

DGamma

Parameter used in fully-coupled jitter back substitution

[Unit(UnitType.NONE)]
public double DGamma

Field Value

double

DOmega

Parameter used in fully-coupled jitter back substitution

[Unit(UnitType.NONE)]
public double DOmega

Field Value

double

DynamicImbalance

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.

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public double DynamicImbalance

Field Value

double

EGamma

Parameter used in fully-coupled jitter back substitution

[Unit(UnitType.NONE)]
public double EGamma

Field Value

double

EOmega

Parameter used in fully-coupled jitter back substitution

[Unit(UnitType.NONE)]
public double EOmega

Field Value

double

FrictionCoulombGimbal

Maximum gimbal friction. Friction is linear with speed up to this magnitude

[Unit(UnitType.NEWTON_METRE)]
public double FrictionCoulombGimbal

Field Value

double

FrictionCoulombWheel

Maximum wheel friction. Friction is linear with speed up to this magnitude

[Unit(UnitType.NEWTON_METRE)]
public double FrictionCoulombWheel

Field Value

double

Gamma

Gimbal angle

[Unit(UnitType.RADIAN)]
public double Gamma

Field Value

double

GammaDot

Gimbal rate

[Unit(UnitType.RADIAN_PER_SECOND)]
public double GammaDot

Field Value

double

GammaDotMax

Maximum gimbal speed

[Unit(UnitType.RADIAN_PER_SECOND)]
public double GammaDotMax

Field Value

double

GgHat_B

Gimbal spin axis unit vector ggHat in body-frame coordinates

[Unit(UnitType.NONE)]
public Vector3 GgHat_B

Field Value

Vector3

GimbalLinearFrictionRatio

Fraction of the maximum gimbal speed at which the friction force saturates

[Unit(UnitType.NONE)]
public double GimbalLinearFrictionRatio

Field Value

double

GimbalMass

Mass of the gimbal

[Unit(UnitType.KILOGRAM)]
public double GimbalMass

Field Value

double

GravityTorqueGimbal_G

Torque exerted by gravity on the gimbal about the gimbal spin axis

[Unit(UnitType.NEWTON_METRE)]
public double GravityTorqueGimbal_G

Field Value

double

GravityTorqueWheel_S

Torque exerted by gravity on the wheel about the wheel spin axis

[Unit(UnitType.NEWTON_METRE)]
public double GravityTorqueWheel_S

Field Value

double

GsHat0_B

Wheel spin axis unit vector in body-frame coordinates, measured with gimbal angle gamma = 0

[Unit(UnitType.NONE)]
public Vector3 GsHat0_B

Field Value

Vector3

GtHat0_B

Torque axis unit vector gtHat in body-frame coordinates, measured with gimbal angle gamma = 0

[Unit(UnitType.NONE)]
public Vector3 GtHat0_B

Field Value

Vector3

GtHat_B

Torque axis unit vector gtHat in body-frame coordinates

[Unit(UnitType.NONE)]
public Vector3 GtHat_B

Field Value

Vector3

IG1

Gimbal moment of inertia about the wheel spin axis gsHat, at the gimbal origin

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public double IG1

Field Value

double

IG12

Gimbal x-y moment of inertia in the gimbal frame at the gimbal origin

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public double IG12

Field Value

double

IG13

Gimbal x-z moment of inertia in the gimbal frame at the gimbal origin

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public double IG13

Field Value

double

IG2

Gimbal moment of inertia about the torque axis gtHat, at the gimbal origin

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public double IG2

Field Value

double

IG23

Gimbal y-z moment of inertia in the gimbal frame at the gimbal origin

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public double IG23

Field Value

double

IG3

Gimbal moment of inertia about the gimbal spin axis ggHat axis, at the gimbal origin

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public double IG3

Field Value

double

IGPntGc_B

Inertia tensor of the gimbal at the gimbal centre of mass, in body-frame coordinates

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public Matrix3 IGPntGc_B

Field Value

Matrix3

IPrimeGPntGc_B

Time derivative of the gimbal inertia tensor at the gimbal centre of mass, in body-frame coordinates

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public Matrix3 IPrimeGPntGc_B

Field Value

Matrix3

IPrimeWPntWc_B

Time derivative of the wheel inertia tensor at the wheel centre of mass, in body-frame coordinates

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public Matrix3 IPrimeWPntWc_B

Field Value

Matrix3

IV1

Total wheel and gimbal moment of inertia about gsHat at the gimbal origin

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public double IV1

Field Value

double

IV2

Total wheel and gimbal moment of inertia about gtHat at the gimbal origin

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public double IV2

Field Value

double

IV3

Total wheel and gimbal moment of inertia about ggHat at the gimbal origin

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public double IV3

Field Value

double

IW1

Wheel moment of inertia about the spin axis gsHat (or W1), at the centre of rotation

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public double IW1

Field Value

double

IW13

Wheel x-z moment of inertia in the wheel frame at the centre of rotation Equivalent to the dynamic imbalance parameter

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public double IW13

Field Value

double

IW2

Wheel moment of inertia about the W2 axis, at the centre of rotation

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public double IW2

Field Value

double

IW3

Wheel moment of inertia about the W3 axis, at the centre of rotation

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public double IW3

Field Value

double

IWPntWc_B

Inertia tensor of the wheel at the wheel centre of mass, in body-frame coordinates

[Unit(UnitType.KILOGRAM_SQUARE_METRE)]
public Matrix3 IWPntWc_B

Field Value

Matrix3

L

Height of the wheel spin axis above the gimbal origin Is treated as 0 for the Balanced model

[Unit(UnitType.METRE)]
public double L

Field Value

double

L0

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

[Unit(UnitType.METRE)]
public double L0

Field Value

double

MassV

Combined mass of the wheel and gimbal

[Unit(UnitType.KILOGRAM)]
public double MassV

Field Value

double

MaxTorqueGimbal

Maximum gimbal motor torque

[Unit(UnitType.NEWTON_METRE)]
public double MaxTorqueGimbal

Field Value

double

MaxTorqueWheel

Maximum wheel motor torque

[Unit(UnitType.NEWTON_METRE)]
public double MaxTorqueWheel

Field Value

double

MinTorqueGimbal

Minimum gimbal motor torque

[Unit(UnitType.NEWTON_METRE)]
public double MinTorqueGimbal

Field Value

double

MinTorqueWheel

Minimum wheel motor torque

[Unit(UnitType.NEWTON_METRE)]
public double MinTorqueWheel

Field Value

double

Omega

Wheel speed

[Unit(UnitType.RADIAN_PER_SECOND)]
public double Omega

Field Value

double

OmegaMax

Maximum wheel speed

[Unit(UnitType.RADIAN_PER_SECOND)]
public double OmegaMax

Field Value

double

P

Parameter used in fully-coupled jitter back substitution

[Unit(UnitType.NONE)]
public Vector3 P

Field Value

Vector3

Q

Parameter used in fully-coupled jitter back substitution

[Unit(UnitType.NONE)]
public Vector3 Q

Field Value

Vector3

RGB_B

Position of the gimbal relative to the body origin, in body-frame coordinates

[Unit(UnitType.METRE)]
public Vector3 RGB_B

Field Value

Vector3

RGcB_B

Position of the gimbal centre of mass relative to the body origin, in body-frame coordinates

[Unit(UnitType.METRE)]
public Vector3 RGcB_B

Field Value

Vector3

RGcG_B

Position of the gimbal centre of mass relative to the gimbal origin, in body-frame coordinates

[Unit(UnitType.METRE)]
public Vector3 RGcG_B

Field Value

Vector3

RGcG_G

Position of the gimbal centre of mass relative to the gimbal origin, in gimbal-frame coordinates

[Unit(UnitType.METRE)]
public Vector3 RGcG_G

Field Value

Vector3

RPrimeGcB_B

Velocity of the gimbal centre of mass relative to the body origin, in body-frame coordinates

[Unit(UnitType.METRE_PER_SECOND)]
public Vector3 RPrimeGcB_B

Field Value

Vector3

RPrimeTildeGcB_B

Skew-symmetric matrix for rPrimeGcB_B

[Unit(UnitType.METRE_PER_SECOND)]
public Matrix3 RPrimeTildeGcB_B

Field Value

Matrix3

RPrimeTildeWcB_B

Skew-symmetric matrix for rPrimeWcB_B

[Unit(UnitType.METRE_PER_SECOND)]
public Matrix3 RPrimeTildeWcB_B

Field Value

Matrix3

RPrimeWcB_B

Velocity of the wheel centre of mass relative to the body origin, in body-frame coordinates

[Unit(UnitType.METRE_PER_SECOND)]
public Vector3 RPrimeWcB_B

Field Value

Vector3

RTildeGcB_B

Skew-symmetric matrix for rGcB_B

[Unit(UnitType.METRE)]
public Matrix3 RTildeGcB_B

Field Value

Matrix3

RTildeWcB_B

Skew-symmetric matrix for rWcB_B

[Unit(UnitType.METRE)]
public Matrix3 RTildeWcB_B

Field Value

Matrix3

RWcB_B

Position of the wheel centre of mass relative to the body origin, in body-frame coordinates

[Unit(UnitType.METRE)]
public Vector3 RWcB_B

Field Value

Vector3

RWcG_B

Position of the wheel centre of mass relative to the gimbal origin, in body-frame coordinates

[Unit(UnitType.METRE)]
public Vector3 RWcG_B

Field Value

Vector3

RhoG

Ratio of gimbal mass to total mass of the wheel and gimbal

[Unit(UnitType.NONE)]
public double RhoG

Field Value

double

RhoW

Ratio of wheel mass to total mass of the wheel and gimbal

[Unit(UnitType.NONE)]
public double RhoW

Field Value

double

S

Parameter used in fully-coupled jitter back substitution

[Unit(UnitType.NONE)]
public double S

Field Value

double

StaticImbalance

Static imbalance parameter. Used to determine the wheel centre of mass offset. Used to determine the static imabalance force for the simple jitter model

[Unit(UnitType.NEWTON)]
public double StaticImbalance

Field Value

double

Theta

Wheel angle

[Unit(UnitType.RADIAN)]
public double Theta

Field Value

double

VSCMGModelType

The type of VSCMG model

[Unit(UnitType.NONE)]
public VSCMGModelType VSCMGModelType

Field Value

VSCMGModelType

VSCMGStatus

The status of the operational model

[Unit(UnitType.NONE)]
public VSCMGOperatingStatusType VSCMGStatus

Field Value

VSCMGOperatingStatusType

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

[Unit(UnitType.NONE)]
public Vector3 W2Hat0_B

Field Value

Vector3

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

[Unit(UnitType.NONE)]
public Vector3 W2Hat_B

Field Value

Vector3

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

[Unit(UnitType.NONE)]
public Vector3 W3Hat0_B

Field Value

Vector3

W3Hat_B

Unit vector 3 of the wheel coordinate frame in body-frame coordinates

[Unit(UnitType.NONE)]
public Vector3 W3Hat_B

Field Value

Vector3

WheelLinearFrictionRatio

Fraction of the maximum wheel speed at which the friction force saturates

[Unit(UnitType.NONE)]
public double WheelLinearFrictionRatio

Field Value

double

WheelMass

Mass of the wheel

[Unit(UnitType.KILOGRAM)]
public double WheelMass

Field Value

double

WheelSpinAxis_B

Wheel spin axis unit vector gsHat in body-frame coordinates

[Unit(UnitType.NONE)]
public Vector3 WheelSpinAxis_B

Field Value

Vector3