RWConfigMsgPayload
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struct RWConfigMsgPayload
- #include <RWConfigMsgPayload.h>
Structure used to define the individual RW configuration data message.
Public Members
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double mass = 1.0
[kg], reaction wheel rotor mass
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double theta = 0.0
[rad], wheel angle
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double Omega = 0.0
[rad/s], wheel speed
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double Js = 1.0
[kg-m^2], spin axis gsHat rotor moment of inertia
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double Jt = 1.0
[kg-m^2], gtHat axis rotor moment of inertia
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double Jg = 1.0
[kg-m^2], ggHat axis rotor moment of inertia
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double U_s = 0.0
[kg-m], static imbalance
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double U_d = 0.0
[kg-m^2], dynamic imbalance
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double d = 0.0
[m], wheel center of mass offset from wheel frame origin
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double J13 = 0.0
[kg-m^2], x-z inertia of wheel about wheel center in wheel frame (imbalance)
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double u_current = 0.0
[N-m], current motor torque
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double u_max = -1
[N-m], Max torque, negative value turns off saturating the wheel
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double u_min = 0.0
[N-m], Min torque
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double fCoulomb = 0.0
[N-m], Coulomb friction torque magnitude
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double fStatic = 0.0
[N-m], Static friction torque magnitude
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double betaStatic = -1.0
Stribeck friction coefficient; For stribeck friction to be activiated, user must change this variable to a positive non-zero number.
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double cViscous = 0.0
[N-m-s/rad] Viscous fricion coefficient
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double omegaLimitCycle = 0.0001
[rad/s], wheel speed that avoids limit cycle with friction
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double frictionTorque = 0.0
[N-m] friction torque, this is a computed value, don’t set it directly
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double omegaBefore = 0.0
[rad/s], wheel speed one time step before
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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.
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double Omega_max = -1.0
[rad/s], max wheel speed, negative values turn off wheel saturation
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double P_max = -1.0
[N-m/s], maximum wheel power, negative values turn off power limit
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RWModels RWModel = BalancedWheels
[-], Type of imbalance model to use
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double cOmega = 0.0
[-], parameter used in coupled jitter back substitution
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char label[10]
[-], label name of the RW device being simulated
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double mass = 1.0