VSCMGConfigMsgPayload

Enums

enum VSCMGModels

enumeration definiting the types of VSCMG modes

Values:

enumerator vscmgBalancedWheels

enumerator vscmgJitterSimple

enumerator vscmgJitterFullyCoupled

struct VSCMGConfigMsgPayload

#include <VSCMGConfigMsgPayload.h>

Structure used to define the individual VSCMG configuration data message.

Public Members

VSCMGModels VSCMGModel: [-], Type of imbalance model to use

Eigen::Vector3d rGB_B: [m], position vector of the VSCMG relative to the spacecraft body frame

Eigen::Vector3d gsHat0_B: module variable

Eigen::Vector3d gsHat_B: [-] spin axis unit vector in body frame

Eigen::Vector3d gtHat0_B: module variable

Eigen::Vector3d gtHat_B: module variable

Eigen::Vector3d ggHat_B: module variable

Eigen::Vector3d w2Hat0_B: [-] initial torque axis unit vector in body frame

Eigen::Vector3d w2Hat_B: module variable

Eigen::Vector3d w3Hat0_B: [-] initial gimbal axis unit vector in body frame

Eigen::Vector3d w3Hat_B: module variable

double massV: [kg]

double massG: [kg]

double massW: [kg]

double theta: [rad], wheel angle

double Omega: [rad/s], wheel speed

double gamma: [s], gimbal angle

double gammaDot: [rad/s], gimbal rate

double IW1: [kg-m^2], spin axis gsHat rotor moment of inertia

double IW2: [kg-m^2], gtHat axis rotor moment of inertia

double IW3: [kg-m^2], ggHat axis rotor moment of inertia

double IW13: [kg-m^2], x-z inertia of wheel about wheel center in wheel frame (imbalance)

double IG1: [kg-m^2]

double IG2: [kg-m^2]

double IG3: [kg-m^2]

double IG12: [kg-m^2]

double IG13: [kg-m^2]

double IG23: [kg-m^2]

double IV1: [kg-m^2]

double IV2: [kg-m^2]

double IV3: [kg-m^2]

double rhoG: module variable

double rhoW: module variable

double U_s: [kg-m], static imbalance

double U_d: [kg-m^2], dynamic imbalance

Eigen::Vector3d rGcG_G: module variable

double d: [m], wheel center of mass offset from wheel frame origin

double l: module variable

double L: module variable

double u_s_current: [N-m], current motor torque

double u_s_max = -1.0: [N-m], Max torque

double u_s_min: [N-m], Min torque

double u_s_f: [N-m], Coulomb friction torque magnitude

double Omega_max = -1.0: [rad/s], max wheel speed

double wheelLinearFrictionRatio: [%] ratio relative to max speed value up to which the friction behaves linearly

double u_g_current: [N-m], current motor torque

double u_g_max = -1.0: [N-m], Max torque

double u_g_min: [N-m], Min torque

double u_g_f: [N-m], Coulomb friction torque magnitude

double gammaDot_max: [rad/s], max wheel speed

double gimbalLinearFrictionRatio: [%] ratio relative to max speed value up to which the friction behaves linearly

Eigen::Matrix3d IGPntGc_B: module variable

Eigen::Matrix3d IWPntWc_B: module variable

Eigen::Matrix3d IPrimeGPntGc_B: module variable

Eigen::Matrix3d IPrimeWPntWc_B: module variable

Eigen::Vector3d rGcG_B: module variable

Eigen::Vector3d rGcB_B: module variable

Eigen::Vector3d rWcB_B: module variable

Eigen::Vector3d rWcG_B: module variable

Eigen::Matrix3d rTildeGcB_B: module variable

Eigen::Matrix3d rTildeWcB_B: module variable

Eigen::Vector3d rPrimeGcB_B: module variable

Eigen::Vector3d rPrimeWcB_B: module variable

Eigen::Matrix3d rPrimeTildeGcB_B: module variable

Eigen::Matrix3d rPrimeTildeWcB_B: module variable

Eigen::Vector3d aOmega: [-], parameter used in coupled jitter back substitution

Eigen::Vector3d bOmega: [-], parameter used in coupled jitter back substitution

double cOmega: [-], parameter used in coupled jitter back substitution

double dOmega: module variable

double eOmega: module variable

Eigen::Vector3d agamma: module variable

Eigen::Vector3d bgamma: module variable

double cgamma: module variable

double dgamma: module variable

double egamma: module variable

Eigen::Vector3d p: module variable

Eigen::Vector3d q: module variable

double s: module variable

double gravityTorqueWheel_s: module variable

double gravityTorqueGimbal_g: module variable