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Path: SCPro/ProControl
% A PID Based 3 axis controller for rigid body.
Use the call with one output to get the default data structure.
This has 4 modes:
0 - steady rotation
1 - align two vectors
2 - align with a quaternion
3 - point vector and steady rotation
Type PID3Axis for a demo
Forms:
% PID3Axis;
d = PID3Axis;
[torque, d] = PID3Axis( q_ECI_body, d )
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Input
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q_ECI_body (4,1) ECI to body quaternion
d (1,1) Data structure
.a (2,2) PID A Matrix
.b (2,1) PID B Matrix
.c (1,2) PID C Matrix
.d (1,1) PID D Matrix
.x_roll (2,1) PID roll state
.x_yaw (2,1) PID yaw state
.x_pitch (2,1) PID pitch stage
.mode (1,1) Four options:
Mode 0 = rotate about an axis
-requires d.q_desired_state
d.angle / d.axis
Mode 1 = align two vectors
-requires d.eci_vector
d.body_vector
Mode 2 = quaternion
-requires d.q_desired_state
d.body_vector
Mode 3 = quaternion
-requires d.eci_vector
d.angle
d.body_vector
.inertia (3,3) Inertia matrix
.l (2,1) Windup compensation matrix
.accel_sat (1,1) Saturation acceleration
.max_angle (1,1) Maximum incremental angle
.axis_command (3,1) Angle of rotation
.body_vector (3,1) Axis in body frame (mode 1 and 3)
.eci_vector (3,1) Axis in ECI frame
.q_desired_state (4,1) Target quaternion
. .q_target_last (4,1) Last target
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Output
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torque (3,1) Control torque
d (1,1) Data structure
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AerospaceUtils: Coord/QIToBDot Common: Control/PIDMIMO Common: Graphics/Plot2D Common: Graphics/TimeLabl Common: Quaternion/AU2Q Common: Quaternion/Q2AU Common: Quaternion/QMult Common: Quaternion/QPose Common: Quaternion/QTForm Common: Quaternion/U2Q Math: Integration/RK4 Math: Linear/Dot
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