rwConfigSimMsg¶

Enums

enum RWModels¶

enumeration definiting the types of RW modes

Values:

enumerator BalancedWheels¶

enumerator JitterSimple¶

enumerator JitterFullyCoupled¶

struct RWConfigSimMsg¶

#include <rwConfigSimMsg.h>

Structure used to define the individual RW configuration data message.

Public Members

Eigen::Vector3d rWB_B¶: [m], position vector of the RW relative to the spacecraft body frame

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

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

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

double mass = 1.0¶: [kg], reaction wheel rotor mass

double theta = 0.0¶: [rad], wheel angle

double Omega = 0.0¶: [rad/s], wheel speed

double Js = 1.0¶: [kg-m^2], spin axis gsHat rotor moment of inertia

double Jt = 1.0¶: [kg-m^2], gtHat axis rotor moment of inertia

double Jg = 1.0¶: [kg-m^2], ggHat axis rotor moment of inertia

double U_s = 0.0¶: [kg-m], static imbalance

double U_d = 0.0¶: [kg-m^2], dynamic imbalance

double d = 0.0¶: [m], wheel center of mass offset from wheel frame origin

double J13 = 0.0¶: [kg-m^2], x-z inertia of wheel about wheel center in wheel frame (imbalance)

double u_current = 0.0¶: [N-m], current motor torque

double u_max = -1¶: [N-m], Max torque, negative value turns off saturating the wheel

double u_min = 0.0¶: [N-m], Min torque

double fCoulomb = 0.0¶: [N-m], Coulomb friction torque magnitude

double fStatic = 0.0¶: [N-m], Static friction torque magnitude

double betaStatic = -1.0¶: Stribeck friction coefficient; For stribeck friction to be activiated, user must change this variable to a positive non-zero number.

double cViscous = 0.0¶: [N-m-s/rad] Viscous fricion coefficient

double omegaLimitCycle = 0.0001¶: [rad/s], wheel speed that avoids limit cycle with friction

double frictionTorque = 0.0¶: [N-m] friction torque, this is a computed value, don’t set it directly

double omegaBefore = 0.0¶: [rad/s], wheel speed one time step before

bool frictionStribeck = 0¶: [-] Boolenian to determine if stribeck friction model is used or not, 0 is non-stribeck, 1 is stribeck; Parameter is set internally.

double Omega_max = -1.0¶: [rad/s], max wheel speed, negative values turn off wheel saturation

RWModels RWModel = BalancedWheels¶: [-], Type of imbalance model to use

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

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

double cOmega = 0.0¶: [-], parameter used in coupled jitter back substitution

Eigen::Matrix3d IRWPntWc_B¶: RW inertia about point Wc in B frame components.

Eigen::Matrix3d IPrimeRWPntWc_B¶: RW inertia B-frame derivative.

Eigen::Vector3d rWcB_B¶: position of Wc relative to B in B-frame components

Eigen::Matrix3d rTildeWcB_B¶: tilde matrix of r_WcB_B

Eigen::Vector3d rPrimeWcB_B¶: B-frame derivative of r_WcB_B.

Eigen::Vector3d w2Hat_B¶: unit vector

Eigen::Vector3d w3Hat_B¶: unit vector

char label[10]¶: [-], label name of the RW device being simulated