#
# 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.
#
r"""
Overview
--------
Demonstrates how to stabilize the attitude tumble without translational motion.
This script sets up a 6-DOF spacecraft, but without specifying any orbital motion. Thus,
this scenario simulates the spacecraft translating in deep space. The scenario is a simplified
version of :ref:`scenarioAttitudeFeedback` with the orbital setup removed.
The script is found in the folder ``src/examples`` and executed by using::
python3 scenarioAttitudePointing.py
As with :ref:`scenarioAttitudeFeedback`, when
the simulation completes 3 plots are shown for the MRP attitude history, the rate
tracking errors, as well as the control torque vector.
The simulation layout is shown in the following illustration. A single simulation process is created
which contains both the spacecraft simulation modules, as well as the Flight Software (FSW) algorithm
modules.
.. image:: /_images/static/test_scenarioAttitudePointing.svg
:align: center
Illustration of Simulation Results
----------------------------------
::
show_plots = True, useLargeTumble = False
Here a small initial tumble is simulated. The
resulting attitude and control torque histories are shown below. The spacecraft quickly
regains a stable orientation without tumbling past 180 degrees.
.. image:: /_images/Scenarios/scenarioAttitudePointing10.svg
:align: center
.. image:: /_images/Scenarios/scenarioAttitudePointing20.svg
:align: center
::
show_plots = True, useLargeTumble = True
Note that, as expected,
the orientation error tumbles past 180 degrees before stabilizing to zero. The control
torque effort is also much larger in this case.
.. image:: /_images/Scenarios/scenarioAttitudePointing11.svg
:align: center
.. image:: /_images/Scenarios/scenarioAttitudePointing21.svg
:align: center
"""
#
# Basilisk Scenario Script and Integrated Test
#
# Purpose: Integrated test of the spacecraftPlus(), extForceTorque, simpleNav() and
# MRP_Feedback() modules. Illustrates a 6-DOV spacecraft detumbling in deep space.
# Author: Hanspeter Schaub
# Creation Date: Nov. 19, 2016
#
import sys
import os
import numpy as np
# import general simulation support files
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import unitTestSupport # general support file with common unit test functions
import matplotlib.pyplot as plt
from Basilisk.utilities import macros
# import simulation related support
from Basilisk.simulation import spacecraftPlus
from Basilisk.simulation import extForceTorque
from Basilisk.simulation import simple_nav
# import FSW Algorithm related support
from Basilisk.fswAlgorithms import MRP_Feedback
from Basilisk.fswAlgorithms import inertial3D
from Basilisk.fswAlgorithms import attTrackingError
# import message declarations
from Basilisk.fswAlgorithms import fswMessages
# attempt to import vizard
from Basilisk.utilities import vizSupport
# The path to the location of Basilisk
# Used to get the location of supporting data.
from Basilisk import __path__
bskPath = __path__[0]
fileName = os.path.basename(os.path.splitext(__file__)[0])
[docs]def run(show_plots, useLargeTumble):
"""
The scenarios can be run with the followings setups parameters:
Args:
show_plots (bool): Determines if the script should display plots
useLargeTumble (bool): Specify if a large initial tumble rate should be used
"""
testFailCount = 0 # zero unit test result counter
testMessages = [] # create empty array to store test log messages
#
# From here on scenario python code is found. Above this line the code is to setup a
# unitTest environment. The above code is not critical if learning how to code BSK.
#
# Create simulation variable names
simTaskName = "simTask"
simProcessName = "simProcess"
# Create a sim module as an empty container
scSim = SimulationBaseClass.SimBaseClass()
# set the simulation time variable used later on
simulationTime = macros.min2nano(10.)
#
# create the simulation process
#
dynProcess = scSim.CreateNewProcess(simProcessName)
# create the dynamics task and specify the integration update time
simulationTimeStep = macros.sec2nano(.1)
dynProcess.addTask(scSim.CreateNewTask(simTaskName, simulationTimeStep))
#
# setup the simulation tasks/objects
#
# initialize spacecraftPlus object and set properties
scObject = spacecraftPlus.SpacecraftPlus()
scObject.ModelTag = "spacecraftBody"
# define the simulation inertia
I = [900., 0., 0.,
0., 800., 0.,
0., 0., 600.]
scObject.hub.mHub = 750.0 # kg - spacecraft mass
scObject.hub.r_BcB_B = [[0.0], [0.0], [0.0]] # m - position vector of body-fixed point B relative to CM
scObject.hub.IHubPntBc_B = unitTestSupport.np2EigenMatrix3d(I)
scObject.hub.sigma_BNInit = [[0.1], [0.2], [-0.3]] # sigma_BN_B
if useLargeTumble:
scObject.hub.omega_BN_BInit = [[0.8], [-0.6], [0.5]] # rad/s - omega_BN_B
else:
scObject.hub.omega_BN_BInit = [[0.001], [-0.01], [0.03]] # rad/s - omega_BN_B
# add spacecraftPlus object to the simulation process
scSim.AddModelToTask(simTaskName, scObject)
# setup extForceTorque module
# the control torque is read in through the messaging system
extFTObject = extForceTorque.ExtForceTorque()
extFTObject.ModelTag = "externalDisturbance"
scObject.addDynamicEffector(extFTObject)
scSim.AddModelToTask(simTaskName, extFTObject)
# add the simple Navigation sensor module. This sets the SC attitude, rate, position
# velocity navigation message
sNavObject = simple_nav.SimpleNav()
sNavObject.ModelTag = "SimpleNavigation"
scSim.AddModelToTask(simTaskName, sNavObject)
#
# setup the FSW algorithm tasks
#
# setup inertial3D guidance module
inertial3DConfig = inertial3D.inertial3DConfig()
inertial3DWrap = scSim.setModelDataWrap(inertial3DConfig)
inertial3DWrap.ModelTag = "inertial3D"
scSim.AddModelToTask(simTaskName, inertial3DWrap, inertial3DConfig)
inertial3DConfig.sigma_R0N = [0., 0., 0.] # set the desired inertial orientation
inertial3DConfig.outputDataName = "guidanceInertial3D"
# setup the attitude tracking error evaluation module
attErrorConfig = attTrackingError.attTrackingErrorConfig()
attErrorWrap = scSim.setModelDataWrap(attErrorConfig)
attErrorWrap.ModelTag = "attErrorInertial3D"
scSim.AddModelToTask(simTaskName, attErrorWrap, attErrorConfig)
attErrorConfig.outputDataName = "attErrorInertial3DMsg"
attErrorConfig.inputRefName = inertial3DConfig.outputDataName
attErrorConfig.inputNavName = sNavObject.outputAttName
# setup the MRP Feedback control module
mrpControlConfig = MRP_Feedback.MRP_FeedbackConfig()
mrpControlWrap = scSim.setModelDataWrap(mrpControlConfig)
mrpControlWrap.ModelTag = "MRP_Feedback"
scSim.AddModelToTask(simTaskName, mrpControlWrap, mrpControlConfig)
mrpControlConfig.inputGuidName = attErrorConfig.outputDataName
mrpControlConfig.vehConfigInMsgName = "vehicleConfigName"
mrpControlConfig.outputDataName = extFTObject.cmdTorqueInMsgName
mrpControlConfig.K = 3.5
mrpControlConfig.Ki = -1 # make value negative to turn off integral feedback
mrpControlConfig.P = 30.0
mrpControlConfig.integralLimit = 2. / mrpControlConfig.Ki * 0.1
#
# Setup data logging before the simulation is initialized
#
numDataPoints = 50
samplingTime = simulationTime // (numDataPoints - 1)
scSim.TotalSim.logThisMessage(mrpControlConfig.outputDataName, samplingTime)
scSim.TotalSim.logThisMessage(attErrorConfig.outputDataName, samplingTime)
#
# create simulation messages
#
# create the FSW vehicle configuration message
vehicleConfigOut = fswMessages.VehicleConfigFswMsg()
vehicleConfigOut.ISCPntB_B = I # use the same inertia in the FSW algorithm as in the simulation
unitTestSupport.setMessage(scSim.TotalSim,
simProcessName,
mrpControlConfig.vehConfigInMsgName,
vehicleConfigOut)
# if this scenario is to interface with the BSK Viz, uncomment the following lines
# vizSupport.enableUnityVisualization(scSim, simTaskName, simProcessName, saveFile=fileName)
#
# initialize Simulation
#
scSim.InitializeSimulationAndDiscover()
#
# configure a simulation stop time time and execute the simulation run
#
scSim.ConfigureStopTime(simulationTime)
scSim.ExecuteSimulation()
#
# retrieve the logged data
#
dataLr = scSim.pullMessageLogData(mrpControlConfig.outputDataName + ".torqueRequestBody", list(range(3)))
dataSigmaBR = scSim.pullMessageLogData(attErrorConfig.outputDataName + ".sigma_BR", list(range(3)))
dataOmegaBR = scSim.pullMessageLogData(attErrorConfig.outputDataName + ".omega_BR_B", list(range(3)))
np.set_printoptions(precision=16)
#
# plot the results
#
plt.close("all") # clears out plots from earlier test runs
plt.figure(1)
for idx in range(1, 4):
plt.plot(dataSigmaBR[:, 0] * macros.NANO2MIN, dataSigmaBR[:, idx],
color=unitTestSupport.getLineColor(idx, 3),
label=r'$\sigma_' + str(idx) + '$')
plt.legend(loc='lower right')
plt.xlabel('Time [min]')
plt.ylabel(r'Attitude Error $\sigma_{B/R}$')
figureList = {}
pltName = fileName + "1" + str(int(useLargeTumble))
figureList[pltName] = plt.figure(1)
plt.figure(2)
for idx in range(1, 4):
plt.plot(dataLr[:, 0] * macros.NANO2MIN, dataLr[:, idx],
color=unitTestSupport.getLineColor(idx, 3),
label='$L_{r,' + str(idx) + '}$')
plt.legend(loc='lower right')
plt.xlabel('Time [min]')
plt.ylabel('Control Torque $L_r$ [Nm]')
pltName = fileName + "2" + str(int(useLargeTumble))
figureList[pltName] = plt.figure(2)
plt.figure(3)
for idx in range(1, 4):
plt.plot(dataOmegaBR[:, 0] * macros.NANO2MIN, dataOmegaBR[:, idx],
color=unitTestSupport.getLineColor(idx, 3),
label=r'$\omega_{BR,' + str(idx) + '}$')
plt.legend(loc='lower right')
plt.xlabel('Time [min]')
plt.ylabel('Rate Tracking Error [rad/s] ')
if show_plots:
plt.show()
# close the plots being saved off to avoid over-writing old and new figures
plt.close("all")
return dataLr, dataSigmaBR, numDataPoints, figureList
#
# This statement below ensures that the unit test scrip can be run as a
# stand-along python script
#
if __name__ == "__main__":
run(
True, # show_plots
False, # useLargeTumble
)