Class in Zendir.Classes | Inherits from PhysicalObject
Declaration
class ReactionWheel;Description
This component models a singular reaction wheel. These reaction wheels can be added as children of Reaction Wheel Arrays.
Properties
| Declared | Description |
|---|---|
| AOmega | Parameter used in coupled jitter back substitution. |
| ArrayIndex | The index of this Reaction Wheel within the Reaction Wheel Array. |
| BetaStatic | Stribeck friction coefficient. For stribeck friction to be activated,user must change this variable to a positive non-zero number. |
| BOmega | Parameter used in coupled jitter back substitution. |
| COmega | Parameter used in coupled jitter back substitution. |
| CurrentTorque | Current motor torque. |
| D | Wheel center of mass offset from wheel frame origin. |
| DCM_BL | DCM matrix of the wheel to body frame |
| DynamicImbalance | Dynamic imbalance. |
| FrictionCoulomb | Coulomb friction torque magnitude. |
| FrictionStatic | Static friction torque magnitude. |
| FrictionStribeck | Boolean to determine if Stribeck friction model is used or not,0 is non-Stribeck, 1 is Stribeck/ Parameter is set internally. |
| FrictionTorque | Friction torque, this is a computed value, don’t set it directly. |
| FrictionViscous | Viscous friction coefficient. |
| Inertia_B | RW inertia about point Wc in B frame components. Also knownas ‘IRWPntWc_B’. This is the inertia of the center of massof the RW in the body frame. |
| Inertia_C | Reaction Wheel Moment of inertia in the Wheel frame |
| InertiaPrime_B | RW inertia B-frame derivative. Also known as ‘IPrimeRWPntWc_B’, whichis the inertia rate of change of the center of mass of the RW in thebody frame. |
| J13 | X-Z inertia of wheel about wheel center in wheel frame (imbalance). |
| Jg | GgHat axis rotor moment of inertia. |
| Js | Spin axis gsHat rotor moment of inertia. |
| Jt | GtHat axis rotor moment of inertia. |
| MaxMomentum | Maximum RW wheel momentum in Nms. |
| MaxTorque | Max torque, negative value turns off saturating the wheel. |
| MinTorque | Min torque of the wheel. |
| NetTorque_B | Torque command for individual RW in the body frame. |
| Omega | Wheel speed. |
| OmegaBefore | Wheel speed one time step before. |
| OmegaLimitCycle | Wheel speed that avoids limit cycle with friction. |
| OmegaMax | Max wheel speed, negative values turn off wheel saturation. |
| Out_RWConfigMsg | The output message that defines this Reaction Wheel’s configuration data. |
| Out_RWTorqueMsg | The output message representing motor torque commands. |
| Position_CB_B | Position of the reaction wheel center of mass Wc relative to Bin B-frame components. Also known as ‘r_WcB_B’. |
| PositionPrime_CB_B | B-frame derivative of r_WcB_B. Also known as ‘rPrime_WcB_B’. |
| PositionTilde_CB_B | Tilde matrix of r_WcB_B. This is the skew symmetric matrix of theposition of the reaction wheel center of mass Wc relative. This isalso known as ‘RTildeWcB_B’. |
| RWStatus | Type of operating model. |
| SpinRateRatio | The ratio of the current reaction wheel speed to the maximum reaction wheel speed. This is a convenient way tomeasure the degree of saturation for the reaction wheel. |
| StaticImbalance | Static imbalance. |
| Theta | Wheel angle. |
| W2Hat_B | Current torque axis unit vector in body frame. |
| W2Hat0_B | Initial torque axis unit vector in body frame. |
| W3Hat_B | Current gimbal axis unit vector in body frame. |
| W3Hat0_B | Initial gimbal axis unit vector in body frame. |
| WheelModelType | Type of imbalance model to use. |
| WheelPosition_B | Position vector of the RW relative to the spacecraft body frame. Thisis the ‘RWB_B’ parameter. |
| WheelSpinAxis_B | Spin axis unit vector gsHat in B-frame components. |
| Inherited | Description |
|---|---|
| Behaviours | A collection of behaviours attached to this object. |
| CenterOfMassB_B | The center of mass of the component in respect to the body frame (B) of the component. This is isolated from anychildren and exists in isolation. |
| CenterOfMassDot_LB_B | The center of mass time-derivative of the component within its own local coordinates. This does not include anyof the sub-components and exists in isolation. |
| CenterOfMassDotB_B | The center of mass time-derivative of the component relative to the body frame (B). This does not include any ofthe sub-components and exists in isolation. |
| CenterOfMassL_L | The center of mass of the component within its own local coordinates. This does not include any of thesub-components and exists in isolation. |
| CenterOfMassPrime_LB_B | The center of mass general-derivative of the component within its own local coordinates. This does not includeany of the sub-components and exists in isolation. |
| CenterOfMassPrimeB_B | [m/s] The center of mass general-derivative of the component relative to the body frame (B). This does notinclude any of the sub-components and exists in isolation. |
| Children | A collection of children attached to this object. |
| DCM_BN | The rotational DCM matrix between the body frame (B) at the top of this component chain and the inertial frame (N). |
| DCM_LB | The rotational DCM matrix between the component frame of this object (L) relative to the body frame (B). |
| DCM_LN | The DCM rotational matrix of the component relative to the inertial origin (N) of the world. |
| DCM_LP | The DCM matrix of the component in the parent’s frame (P), taken from the Component Transform (PL). |
| IsEnabled | Is true if the object is currently enabled. |
| LocalForward | The direction of the transform frame’s forward vector, which is along the Y axis. |
| LocalRight | The direction of the transform frame’s right vector, which is along the X axis. |
| LocalUp | The direction of the transform frame’s up vector, which is along the Z axis. |
| MassDot | The component mass time-derivative defined in the object. This is independent of any parent or children objectsand exists in isolation. |
| Models | A collection of models attached to this object. |
| MomentOfInertia_LB | The moment of inertia of the component, measured at the local center of mass, represented with its own localcoordinates. This does not include any of the sub-components and exists in isolation. |
| MomentOfInertiaB_B | The moment of inertia of this component, measured in the body frame relative to the parented body. This isindependent of any children and exists in isolation. |
| MomentOfInertiaPrime_LB | The derivative of the moment of inertia of the component, measured at the local center of mass, represented withits own local coordinates. This does not include any of the sub-components and exists in isolation. |
| MomentOfInertiaPrimeB_B | The derivative of the moment of inertia of the component, represented in the body frame (B). This is independentand exists in isolation. |
| Name | The display name or tag of this object. |
| Out_ComponentMassMsg | The component mass message defines the set of mass properties and states of the system within this componentlocally. This is independent of any parent or children properties or objects. |
| Out_TransformMsg | This defines the base transform message that stores the state of the transform of this object. |
| Parent | The currently attached parent object (if any). |
| Position | [m] The position of the object relative to the parent or to world origin, if no parent exists. |
| Position_BN_N | The position of the body (the root parent B) in the inertial frame relative to the inertial point (N). |
| Position_LB_B | The position of the component relative to the root object of this hierarchy. This is in the inertial frame and ifthe component is the root object, then there will be no position. |
| Position_LN_N | The position of the inertial world space. This position is derived from the world’s transform (N). |
| Position_LP_P | The position of the object relative to the parented object (P). If there is no parent object, then this will bein the inertial frame. |
| Root | The root object in the parent chain. |
| Rotation | [-] The rotation of the object relative to the parent or to the world origin, if no parent exists. |
| Thermal | [TEMPORARY] A reference to the thermal model that is attached to this object. This will allow the object to havethermal properties and be able to be used in thermal simulations. |
Methods
| Inherited | Description |
|---|---|
| AddObject | Returns a new simulation object with the specified type. |
| Attach | Attempts to attach this object to a new parent. This will only work if the current object is no parented to anyother object. |
| ContainsModelWithID | Returns true if an attached model satisfies the specified ID. |
| ContainsModelWithType | Returns true if an attached model satisfies the specified type. |
| Detach | This is an action to detach the current object from its parent, if it exists and move it to another object or tojust exist within the simulation. |
| FindBehavioursWithType | Returns all attached behaviours that satisfies the specified type. |
| FindBehaviourWithID | Returns an attached behaviour that satisfies the specified ID. |
| FindBehaviourWithType | Returns an attached behaviour that satisfies the specified type. |
| FindChildrenWithType | Returns all attached children that satisfies the specified type. |
| FindChildWithID | Returns an attached child that satisfies the specified ID. |
| FindChildWithType | Returns an attached child that satisfies the specified type. |
| FindModelsWithType | Returns all attached models that satisfies the specified type. |
| FindModelWithID | Returns an attached model that satisfies the specified ID. |
| FindModelWithType | Returns an attached model that satisfies the specified type. |
| FindParentWithID | Returns an attached parent that satisfies the specified ID. |
| FindParentWithType | Returns an attached parent that satisfies the specified type. |
| FindRootWithID | Returns a root object that satisfies the specified ID. |
| FindRootWithType | Returns a root object that satisfies the specified type. |
| GetModel | Returns a valid assigned model with the specified type. |
| GetWorldForward | [DEPRECATED] THIS FUNCTION WILL BE REMOVED AND SHOULD NOT BE USED. |
| GetWorldRight | [DEPRECATED] THIS FUNCTION WILL BE REMOVED AND SHOULD NOT BE USED. |
| GetWorldTransform | Returns the world transform of the object which is relative to the parent. If no parent exists, this will be thetransform of the object in world space. |
| GetWorldUp | [DEPRECATED] THIS FUNCTION WILL BE REMOVED AND SHOULD NOT BE USED. |
| ReadBodyTransform | This method will reset the dirty flag on the mass so that it has been read successfully and is valid. |
| SetWorldTransform | [DEPRECATED] THIS FUNCTION WILL BE REMOVED AND SHOULD NOT BE USED. |
| UpdateMassProperties | Updates the mass properties of the current physical object at a particular time. |