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Path: SCPro/ProActuators
% Computes forces and torques for RWAs and thrusters using off-pulsing.
Off-pulsing is used to produce delta-v and attitude control at the same
time.
Inputs are a torque vector, the desired fraction of the time each
thruster is on for delta-v, the set of thrusters to be used for
attitude control and a data structure. If a feasible solution is not
reached the control is not possible.
Type ThrusterAndRWACommand
for a demo that shows pure attitude control and also off-pulsing for
delta-v and attitude control.
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% Inputs
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t (3,1) Desired torque vector
pOn (1,:) Fraction of time thruster is on for delta-v
kACS (1,n) Set of ACS thrusters
kRWA (1,m) Set of RWA to use
d (1,1) Data structure
.uT (3,n) Thruster unit force vectors
.rT (3,n) Thruster locations
.thrust (1,:) Thrust magnitude
.uRWA (3,m) RWA unit torque vectors
.tRWA (1,m) Maximum RWA torque
.cM (3,1) Spacecraft center of mass
.cT (1,n) Thruster cost
.cRWA (1,m) RWA cost
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Outputs
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force (3,1) Net force vector
torque (3,1) Net torque vector (should = t)
uT (1,n) Fraction of time thruster is on
uRWA (1,m) Fraction of maximum RWA torque
f (1,1) 1 means a feasible solution was reached
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Common: General/DispWithTitle Math: Analysis/Simplex Math: Linear/Cross Math: Linear/DupVect
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