MRP Feedback Control Software

SWITCH TO MANUAL

Class in Zendir.Classes | Inherits from Software

Declaration

class MRPFeedbackControlSoftware;

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Description

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.

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Properties

Declared	Description
In_AttitudeErrorMsg	Attitude guidance input message
In_BodyMassMsg	Vehicle configuration input message from the body
In_RWArrayAvailabilityMsg	RW availability input message [OPTIONAL]
In_RWArrayConfigMsg	RW parameter input message [OPTIONAL]
In_RWArraySpeedMsg	RW speed input message [OPTIONAL]
IntegralLimit	[Nm] Integration limit to avoid wind-up issue
K	[rad/s] Proportional gain applied to MRP errors
Ki	[Nm] Integration feedback error on rate error
KnownTorque_B	[Nm] known external torque in body frame vector componentson the body frame
Out_CommandTorqueMsg	Commanded spacecraft external control torque output message
P	Rate error feedback gain applied
SigmaIntegral	[s] Integral of the known MRP attitude error measurementthat will change over time

Inherited	Description
IsEnabled	Is true if the object is currently enabled.
Name	The display name or tag of this object.
Parent	The currently attached parent object (if any).

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Methods

Inherited	Description
Destroy	Removes the current object from the simulation.
Disable	Disable the software componentDerived classes should clear any output messages
Enable	Enable the software component
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.
Initialise	This method is called whenever some key parameters are changedand any new local variables are required to be recalculated. Thiscan be called by the software chains if a configuration of somevalues are updated.