Module: torqueScheduler
Executive Summary
This module schedules two control torques such that they can be applied simultaneously, one at the time, or neither is applied, and combines them into one output msg. This is useful in the case of a system with two coupled degrees of freedom, where the changes in one controlled variable can affect the other controlled variable and thus cause the system to not converge.
Message Connection Descriptions
The following table lists all the module input and output messages. The module msg connection is set by the user from python. The msg type contains a link to the message structure definition, while the description provides information on what this message is used for.
Msg Variable Name |
Msg Type |
Description |
|---|---|---|
motorTorqueOutMsg |
Output Array Motor Torque Message. |
|
effectorLockOutMsg |
Output Array Motor Torque Message. |
|
motorTorque1InMsg |
#1 Input Array Motor Torque Message. |
|
motorTorque2InMsg |
#2 Input Array Motor Torque Message. |
Module Assumptions and Limitations
The two input torques are always read and combined into a single motorTorqueOutMsg. The logic to enable locking the effector or, on the contrary, reading the torque and applying it, is contained into the effectorLockOutMsg.
Detailed Module Description
This module receives a lockFlag and a a tSwitch parameter from the user. The first is used to decide how the input torques should be passed to the output torque message. If a torque is to be applied, its corresponding effectorLockOutMsg.effectorLockFlag is set to zero. If not, its corresponding effectorLockOutMsg.effectorLockFlag is set to 1. The following cases are possible:
lockFlag = 0: both motor torques are applied simultaneously;
lockFlag = 1: first motor torque is applied fort < tSwitch, second motor torque is applied fort > tSwitch;
lockFlag = 2: second motor torque is applied fort < tSwitch, first motor torque is applied fort > tSwitch;
lockFlag = 3: neither of the motor torques are applied.
User Guide
The required module configuration is:
scheduler = torqueScheduler.torqueScheduler()
scheduler.ModelTag = "torqueScheduler"
scheduler.lockFlag = lockFlag
scheduler.tSwitch = tSwitch
unitTestSim.AddModelToTask(unitTaskName, scheduler)
The module is configurable with the following parameters:
Parameter |
Description |
|---|---|
|
flag to choose the logic according to which the motor torques are applied. If not provided, it defaults to zero. |
|
time at which the torque is switched from input 1 to input 2. If not provided it defaults to zero, therefore only input torque is passed. |
Functions
-
void SelfInit_torqueScheduler(torqueSchedulerConfig *configData, int64_t moduleID)
This method initializes the output messages for this module.
- Parameters:
configData – The configuration data associated with this module
moduleID – The module identifier
- Returns:
void
-
void Reset_torqueScheduler(torqueSchedulerConfig *configData, uint64_t callTime, int64_t moduleID)
This method performs a complete reset of the module. Local module variables that retain time varying states between function calls are reset to their default values.
- Parameters:
configData – The configuration data associated with the module
callTime – [ns] time the method is called
moduleID – The module identifier
- Returns:
void
-
void Update_torqueScheduler(torqueSchedulerConfig *configData, uint64_t callTime, int64_t moduleID)
This method computes the control torque to the solar array drive based on a PD control law
- Parameters:
configData – The configuration data associated with the module
callTime – The clock time at which the function was called (nanoseconds)
moduleID – The module identifier
- Returns:
void
-
struct torqueSchedulerConfig
- #include <torqueScheduler.h>
Top level structure for the sub-module routines.
Public Members
-
int lockFlag
flag to control the scheduler logic
-
double tSwitch
[s] time span after t0 at which controller switches to second angle
-
uint64_t t0
[ns] epoch time where module is reset
-
ArrayMotorTorqueMsg_C motorTorque1InMsg
input motor torque message #1
-
ArrayMotorTorqueMsg_C motorTorque2InMsg
input motor torque message #1
-
ArrayMotorTorqueMsg_C motorTorqueOutMsg
output msg containing the motor torque to the array drive
-
ArrayEffectorLockMsg_C effectorLockOutMsg
output msg containing the flag to actuate or lock the motor
-
BSKLogger *bskLogger
BSK Logging.
-
int lockFlag