vscmgConfigSimMsg¶

Enums

enum VSCMGModels¶

enumeration definiting the types of VSCMG modes

Values:

enumerator vscmgBalancedWheels¶

enumerator vscmgJitterSimple¶

enumerator vscmgJitterFullyCoupled¶

struct VSCMGConfigSimMsg¶

#include <vscmgConfigSimMsg.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¶

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

Eigen::Vector3d gtHat0_B¶

Eigen::Vector3d gtHat_B¶

Eigen::Vector3d ggHat_B¶

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

Eigen::Vector3d w2Hat_B¶

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

Eigen::Vector3d w3Hat_B¶

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¶

double rhoW¶

double U_s¶: [kg-m], static imbalance

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

Eigen::Vector3d rGcG_G¶

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

double l¶

double L¶

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¶

Eigen::Matrix3d IWPntWc_B¶

Eigen::Matrix3d IPrimeGPntGc_B¶

Eigen::Matrix3d IPrimeWPntWc_B¶

Eigen::Vector3d rGcG_B¶

Eigen::Vector3d rGcB_B¶

Eigen::Vector3d rWcB_B¶

Eigen::Vector3d rWcG_B¶

Eigen::Matrix3d rTildeGcB_B¶

Eigen::Matrix3d rTildeWcB_B¶

Eigen::Vector3d rPrimeGcB_B¶

Eigen::Vector3d rPrimeWcB_B¶

Eigen::Matrix3d rPrimeTildeGcB_B¶

Eigen::Matrix3d rPrimeTildeWcB_B¶

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¶

double eOmega¶

Eigen::Vector3d agamma¶

Eigen::Vector3d bgamma¶

double cgamma¶

double dgamma¶

double egamma¶

Eigen::Vector3d p¶

Eigen::Vector3d q¶

double s¶

double gravityTorqueWheel_s¶

double gravityTorqueGimbal_g¶