Reaction Wheel Array

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Class in Zendir.Classes | Inherits from StateEffector

Declaration

class ReactionWheelArray;

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Description

This component models a reaction wheel array connected to a rigid body. Reaction wheel arrays may be constructed from three different model: balanced wheels, simple jitter, and fully-coupled imbalanced wheels.

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Properties

Declared	Description
CenterOfMassL_L	[m] The center of mass of the component within its own localcoordinates. This does not include any of the sub-components.Overridden to always return Vector3(0,0,0)
In_MotorTorqueArrayMsg	Message ID for incoming motor torque data
Mass	The mass of the reaction wheel array, excluding child objects. Overridden to always return 0.
MaxTorques	The maximum RW motor torque. This is the ‘UMax’ parameter.
MomentOfInertia_LB	[kg m^2] The moment of inertia of the component within its ownlocal coordinates. This does not include any of the sub-components.Overridden to always return a Matrix of 0.
NumRW	The number of reaction wheels linked to the RWArray config message.
Out_RWArrayConfigMsg	Output Message for array of reaction wheel configs
Out_RWArraySpeedMsg	Output message for the reaction wheels
SpinAxis_B	The RW spin axis matrix in body frame coordinates. This is the’GsMatrix_B’ parameter.
SpinInertias	The spin axis inertia for RWs as a list of wheel values. This isthe ‘JsList’ parameter.
SpinRateRatios	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.

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.
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).
Force_B	Force that the state effector applies to the body (B) frame.
In_BodyMassMsg	Message for incoming body mass state from the root object.
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.
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.
Torque_LB_B	Torque that the state effector applies to the body about the bodyframe (B).
Torque_LC_B	Torque that the state effector applies to the body about thecenter of mass (C).

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Methods

Declared	Description
CreateReactionWheel	Creates a new reaction wheel and adds the wheel to the current array.This will also initialise the reaction wheel with some default properties.
GetReactionWheel	Return a reference to the message of the reaction wheelat the specified index.
GetReactionWheelMessage	Return a reference to the message of the reaction wheelat the specified index.

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.
CalculateForceTorqueOnBody	Calculates the Force and Torque of the object due to the State Effector
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.
ModifyStates	Modifies any state values after integration
ReadBodyTransform	This method will reset the dirty flag on the mass so thatit has been read successfully and is valid.