#
# ISC License
#
# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
#
# Permission to use, copy, modify, and/or distribute this software for any
# purpose with or without fee is hereby granted, provided that the above
# copyright notice and this permission notice appear in all copies.
#
# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
#
from Basilisk.utilities import macros as mc
[docs]def Honeywell_HR16(maxMomentum_level):
"""
Honeywell HR16 (100Nm, 75Nm, 50Nm)
RW Information Source:
http://www51.honeywell.com/aero/common/documents/Constellation_Series_Reaction_Wheels.pdf
There are 3 momentum capacity options for this RW type. The maximum momentum
capacity must be set prior to creating the HR16 RW type using::
maxMomentum = 100, 75 or 50
:param maxMomentum_level:
:return:
"""
Omega_max = 6000.0 * mc.rpm2radsec # maximum speed
u_max = 0.200 # maximum RW torque [Nm]
u_min = 0.00001 # minimum RW torque [Nm]
u_f = 0.0005 # static friction torque [Nm]
maxMomentum_large = 100
maxMomentum_medium = 75
maxMomentum_small = 50
# mass = RW rotor mass [kg]. Note: the rotor mass here is set equal to the RW mass of the above spec sheet.
# U_s = static RW imbalance [kg*m]
# U_d = dynamic RW imbalance [kg*m^2]
if maxMomentum_level == 'large':
mass = 12.0
U_s = 4.8E-6
U_d = 15.4E-7
elif maxMomentum_level == 'medium':
mass = 10.4
U_s = 3.8E-6
U_d = 11.5E-7
elif maxMomentum_level == 'small':
mass = 9.0
U_s = 2.8E-6
U_d = 7.7E-7
else:
raise ValueError('Honeywell_HR16(maxMomentum_level) only has arg options maxMomentum = [large, medium, small]')
maxMomentum = eval('maxMomentum_'+ maxMomentum_level)
return (Omega_max, u_max, u_min, u_f, mass, U_s, U_d, maxMomentum)
[docs]def Honeywell_HR14(maxMomentum):
"""
Honeywell HR14 (25Nm, 50Nm, 75Nm)
RW Information Source:
http://www51.honeywell.com/aero/common/documents/Constellation_Series_Reaction_Wheels.pdf
There are 3 momentum capacity options for this RW type. The maximum momentum
capacity must be set prior to creating the HR14 RW type using::
options.maxMomentum = 75, 50 or 25
:param maxMomentum:
:return:
"""
Omega_max = 6000.0 * mc.rpm2radsec # maximum speed
u_max = 0.200 # maximum RW torque [Nm]
u_min = 0.00001 # minimum RW torque [Nm]
u_f = 0.0005 # static friction torque [Nm]
# mass = RW rotor mass [kg]. Note: the rotor mass here is set equal to the RW mass of the above spec sheet.
# U_s = static RW imbalance [kg*m]
# U_d = dynamic RW imbalance [kg*m^2]
large = 75
medium = 50
small = 25
if maxMomentum == large:
mass = 10.6
U_s = 4.8E-6
U_d = 13.7E-7
elif maxMomentum == medium:
mass = 8.5
U_s = 3.5E-6
U_d = 9.1E-7
elif maxMomentum == small:
mass = 7.5
U_s = 2.2E-6
U_d = 4.6E-7
else:
raise ValueError('Honeywell_HR14(maxMomentum) only has arg options maxMomentum = [large, medium, small]')
return (Omega_max, u_max, u_min, u_f, mass, U_s, U_d)
[docs]def Honeywell_HR12(maxMomentum):
"""
Honeywell HR12 (12Nm, 25Nm, 50Nm)
RW Information Source:
http://www51.honeywell.com/aero/common/documents/Constellation_Series_Reaction_Wheels.pdf
There are 3 momentum capacity options for this RW type. The maximum momentum
capacity must be set prior to creating the HR12 RW type using::
options.maxMomentum = 12, 25 or 50
:param maxMomentum:
:return:
"""
Omega_max = 6000.0 * mc.rpm2radsec # maximum speed
u_max = 0.200 # maximum RW torque [Nm]
u_min = 0.00001 # minimum RW torque [Nm]
u_f = 0.0005 # static friction torque [Nm]
# mass = RW rotor mass [kg]. Note: the rotor mass here is set equal to the RW mass of the above spec sheet.
# U_s = static RW imbalance [kg*m]
# U_d = dynamic RW imbalance [kg*m^2]
large = 50
medium = 25
small = 12
if maxMomentum == large:
mass = 9.5
U_s = 4.4E-6
U_d = 9.1E-7
elif maxMomentum == medium:
mass = 7.0
U_s = 2.4E-6
U_d = 4.6E-7
elif maxMomentum == small:
mass = 6.0
U_s = 1.5E-6
U_d = 2.2E-7
else:
raise ValueError('Honeywell_HR12(maxMomentum) only has arg options maxMomentum = [large, medium, small]')
return (Omega_max, u_max, u_min, u_f, mass, U_s, U_d)