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 bodyframe (B) of the component. This is isolated from any childrenand exists in isolation. |
| CenterOfMassDot_LB_B | The center of mass time-derivative of the component within itsown local coordinates. This does not include any of the sub-componentsand exists in isolation. |
| CenterOfMassDotB_B | The center of mass time-derivative of the component relative tothe body frame (B). This does not include any of the sub-componentsand exists in isolation. |
| CenterOfMassL_L | The center of mass of the component within its own localcoordinates. This does not include any of the sub-components andexists in isolation. |
| CenterOfMassPrime_LB_B | The center of mass general-derivative of the component within itsown local coordinates. This does not include any of the sub-componentsand exists in isolation. |
| CenterOfMassPrimeB_B | [m/s] The center of mass general-derivative of the component relativeto the body frame (B). This does not include any of the sub-componentsand 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 topof this component chain and the inertial frame (N). |
| DCM_LB | The rotational DCM matrix between the component frame of thisobject (L) relative to the body frame (B). |
| DCM_LN | The DCM rotational matrix of the component relative to theinertial origin (N) of the world. |
| DCM_LP | The DCM matrix of the component in the parent’s frame (P), takenfrom 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. Thisis independent of any parent or children objects and exists in isolation. |
| Models | A collection of models attached to this object. |
| MomentOfInertia_LB | The moment of inertia of the component, measured at thelocal center of mass, represented with its own local coordinates.This does not include any of the sub-components and exists inisolation. |
| MomentOfInertiaB_B | The moment of inertia of this component, measured inthe body frame relative to the parented body. This is independentof 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 with its own localcoordinates. This does not include any of the sub-components andexists in isolation. |
| MomentOfInertiaPrimeB_B | The derivative of the moment of inertia of the component,represented in the body frame (B). This is independent and exists inisolation. |
| Name | The display name or tag of this object. |
| Out_ComponentMassMsg | The component mass message defines the set of mass properties andstates of the system within this component locally. This is independentof 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 theinertial frame relative to the inertial point (N). |
| Position_LB_B | The position of the component relative to the rootobject of this hierarchy. This is in the inertial frameand if the component is the root object, then there willbe no position. |
| Position_LN_N | The position of the inertial world space. This position isderived 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 be in the inertialframe. |
| 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 | A reference to the thermal model that is attached to this object.This will allow the object to have thermal properties and be ableto 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. |
| Destroy | Removes the current object from the simulation. |
| 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. |
| 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. |
| ReadBodyTransform | This method will reset the dirty flag on the mass so thatit has been read successfully and is valid. |
| UpdateMassProperties | Updates the mass properties of the current physical object ata particular time. |