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fix reset timing for torque integration in MTQ controller #309

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merged 2 commits into from
May 21, 2024
Merged

fix reset timing for torque integration in MTQ controller #309

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af58f6b
fix reset timing for torque integration in MTQ controller
suzuki-toshihir0 May 20, 2024
3e15a76
modify to integrate orderd torque explicitly when standby
suzuki-toshihir0 May 20, 2024
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13 changes: 11 additions & 2 deletions ...plications/UserDefined/AOCS/HardwareDependent/ActuatorControllers/mtq_seiren_controller.c
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,7 @@ void APP_MTQ_SEIREN_CONTROLLER_init_(void)
mtq_seiren_controller_.previous_torque_integration_obc_time = TMGR_get_master_clock();
mtq_seiren_controller_.cross_product_error = CROSS_PRODUCT_CONTROL_ERROR_OK;
mtq_seiren_controller_.cross_product_error_ratio = 0.0f;
mtq_seiren_controller_.integrator_status = MTQ_SEIREN_CONTROLLER_TORQUE_IS_INTEGRATING;
}

void APP_MTQ_SEIREN_CONTROLLER_exec_(void)
Expand All @@ -81,10 +82,16 @@ void APP_MTQ_SEIREN_CONTROLLER_exec_(void)
case APP_AOCS_MANAGER_MAGNETIC_EXCLUSIVE_CONTROL_STATE_OBSERVE:
// 次にMTQを出力するとき、何秒間電流を流すかを決める
APP_MTQ_SEIREN_CONTROLLER_convert_mag_moment_to_output_duration_();
// 次回の出力を決めたら、トルク積分値をリセットする
APP_MTQ_SEIREN_CONTROLLER_reset_integrated_torque_();
// 指令トルクの積分は完了
mtq_seiren_controller_.integrator_status = MTQ_SEIREN_CONTROLLER_TORQUE_INTEGRATION_COMPLETED;
break;
case APP_AOCS_MANAGER_MAGNETIC_EXCLUSIVE_CONTROL_STATE_CONTROL:
if (mtq_seiren_controller_.integrator_status == MTQ_SEIREN_CONTROLLER_TORQUE_INTEGRATION_COMPLETED)
{
// 指令トルク積分値をリセットし、次のトルク指令に備えて積分をリスタートする
APP_MTQ_SEIREN_CONTROLLER_reset_integrated_torque_();
mtq_seiren_controller_.integrator_status = MTQ_SEIREN_CONTROLLER_TORQUE_IS_INTEGRATING;
}
// APP_AOCS_MANAGER_MAGNETIC_EXCLUSIVE_CONTROL_STATE_OBSERVEのケースで計算していた出力時間の分だけMTQを出力する
for (size_t idx = 0; idx < MTQ_SEIREN_IDX_MAX; idx++)
{
Expand All @@ -104,6 +111,8 @@ void APP_MTQ_SEIREN_CONTROLLER_exec_(void)
{
MTQ_SEIREN_output(mtq_seiren_driver[idx], MTQ_SEIREN_NO_OUTPUT);
}
// 消磁中も積分を続ける
mtq_seiren_controller_.integrator_status = MTQ_SEIREN_CONTROLLER_TORQUE_IS_INTEGRATING;
break;
default:
// NOT REACHED
Expand Down
16 changes: 14 additions & 2 deletions ...plications/UserDefined/AOCS/HardwareDependent/ActuatorControllers/mtq_seiren_controller.h
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,17 @@
#include <src_user/Library/ControlUtility/cross_product_control.h>
#include <src_user/Applications/DriverInstances/di_mtq_seiren.h>

/**
* @struct MTQ_SEIREN_CONTROLLER_TORQUE_INTEGRATOR_STATUS
* @brief 指令トルクの積分状態
* @note int8_tを想定
*/
typedef enum
{
MTQ_SEIREN_CONTROLLER_TORQUE_IS_INTEGRATING = 0, //!< 積分中
MTQ_SEIREN_CONTROLLER_TORQUE_INTEGRATION_COMPLETED //!< 積分完了
} MTQ_SEIREN_CONTROLLER_TORQUE_INTEGRATOR_STATUS;

/**
* @struct MtqSeirenController
* @brief MTQ_SEIRENの制御に必要な情報を管理する構造体
Expand All @@ -23,8 +34,9 @@ typedef struct
int8_t mtq_output_duty[MTQ_SEIREN_IDX_MAX]; //!< 極性と出力時間から計算され、テレメに出力するためのMTQ出力duty比 [-100, +100] （単位：％）

// 消磁中に更新された指令トルクに関する積分関連パラメータ
float integrated_torque_Nms[PHYSICAL_CONST_THREE_DIM]; //!< 消磁中に更新された指令トルクを積分して角運動量指令に換算するためのバッファ [Nms]
ObcTime previous_torque_integration_obc_time; //!< 前回積分した時間
float integrated_torque_Nms[PHYSICAL_CONST_THREE_DIM]; //!< 消磁中に更新された指令トルクを積分して角運動量指令に換算するためのバッファ [Nms]
MTQ_SEIREN_CONTROLLER_TORQUE_INTEGRATOR_STATUS integrator_status; //!< 指令トルクの積分状態
ObcTime previous_torque_integration_obc_time; //!< 前回積分した時間

CROSS_PRODUCT_CONTROL_ERROR cross_product_error; //!< CrossProductの実行エラー記録 (TODO_L: 残すか要検討，デバッグ用)
float cross_product_error_ratio;
Expand Down
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