VSCMGConfigMsgPayload

Enums

enum VSCMGModels

enumeration definiting the types of VSCMG modes

Values:

enumerator vscmgBalancedWheels

enumerator vscmgJitterSimple

enumerator vscmgJitterFullyCoupled

struct VSCMGConfigMsgPayload

#include <VSCMGConfigMsgPayload.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], vector pointing from body frame B origin to VSCMG frame G origin in B frame components

Eigen::Vector3d gsHat0_B: [-] first axis of the G frame in B frame components (G frame for gamma=0)]

Eigen::Vector3d gsHat_B: [-] first axis of the G frame in B frame components

Eigen::Vector3d gtHat0_B: [-] second axis of the G frame in B frame components (G frame for gamma=0)]

Eigen::Vector3d gtHat_B: [-] second axis of the G frame in B frame components

Eigen::Vector3d ggHat_B: [-] third axis of the G frame in B frame components

Eigen::Vector3d w2Hat0_B: [-] second axis of the W frame in B frame components (W frame for theta=0)

Eigen::Vector3d w2Hat_B: [-] second axis of the W frame in B frame components

Eigen::Vector3d w3Hat0_B: [-] third axis of the W frame in B frame components (W frame for theta=0)

Eigen::Vector3d w3Hat_B: [-] third axis of the W frame in B frame components

double massV: [kg] mass of the VSCMG system

double massG: [kg] mass of the gimbal

double massW: [kg] mass of the wheel

double theta: [rad] wheel angle

double Omega: [rad/s] wheel speed

double gamma: [rad] gimbal angle

double gammaDot: [rad/s] gimbal rate

double IW1: [kg-m^2] inertia of the wheel about the wheel spin axis in W frame components

double IW2: [kg-m^2] inertia of the wheel about the wheel second axis in W frame components

double IW3: [kg-m^2] inertia of the wheel about the wheel third axis in W frame components

double IW13: [kg-m^2] inertia coupling between wheel first and third axes in W frame components

double IG1: [kg-m^2] inertia of the gimbal about the gimbal first axis in G frame components

double IG2: [kg-m^2] inertia of the gimbal about the gimbal second axis in G frame components

double IG3: [kg-m^2] inertia of the gimbal about the gimbal third axis in G frame components

double IG12: [kg-m^2] inertia coupling between gimbal first and second axes in G frame components

double IG13: [kg-m^2] inertia coupling between gimbal first and third axes in G frame components

double IG23: [kg-m^2] inertia coupling between gimbal second and third axes in G frame components

double IV1: [kg-m^2] inertia of the VSCMG about the VSCMG first axis in G frame components

double IV2: [kg-m^2] inertia of the VSCMG about the VSCMG second axis in G frame components

double IV3: [kg-m^2] inertia of the VSCMG about the VSCMG third axis in G frame components

double rhoG: [-] ratio of the gimbal mass to the VSCMG mass

double rhoW: [-] ratio of the wheel mass to the VSCMG mass

double U_s: [kg-m] static imbalance

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

double d: [m] offset of point Wc (center of mass of the wheel) from wheel frame W origin

double l: [m] offset of wheel third axis from gimbal third axis

double L: [m] offset of the wheel first axis from the gimbal first axis

double u_s_current: [N-m] current wheel motor torque

double u_s_max = -1.0: [N-m] Max wheel torque

double u_s_min: [N-m] Min wheel torque

double u_s_f: [N-m] Coulomb friction wheel torque magnitude

double Omega_max = -1.0: [rad/s] max wheel speed

double wheelLinearFrictionRatio: [%] ratio relative to max wheel speed value up to which the friction behaves linearly

double u_g_current: [N-m] current gimbal motor torque

double u_g_max = -1.0: [N-m] Max gimbal torque

double u_g_min: [N-m] Min gimbal torque

double u_g_f: [N-m] Coulomb friction gimbal torque magnitude

double gammaDot_max: [rad/s] max gimbal rate

double gimbalLinearFrictionRatio: [%] ratio relative to max gimbal rate value up to which the friction behaves linearly

Eigen::Matrix3d IGPntGc_B: [kg-m^2] inertia of the gimbal about point Gc (center of mass of the gimbal) in B frame components

Eigen::Matrix3d IWPntWc_B: [kg-m^2] inertia of the wheel about point Wc (center of mass of the wheel) in B frame components

Eigen::Matrix3d IPrimeGPntGc_B: [kg-m^2] body frame time derivative of IGPntGc_B

Eigen::Matrix3d IPrimeWPntWc_B: [kg-m^2] body frame time derivative of IWPntWc_B

Eigen::Vector3d rGcG_G: [m] vector pointing from VSCMG frame G origin to point Gc (center of mass of the gimbal) in G frame components

Eigen::Vector3d rGcG_B: [m] vector pointing from VSCMG frame G origin to point Gc (center of mass of the gimbal) in B frame components

Eigen::Vector3d rGcB_B: [m] vector pointing from body frame B origin to point Gc (center of mass of the gimbal) in B frame components

Eigen::Vector3d rWcB_B: [m] vector pointing from body frame B origin to point Wc (center of mass of the wheel) in B frame components

Eigen::Vector3d rWcG_B: [m] vector pointing from VSCMG frame G origin to point Wc (center of mass of the wheel) in B frame components

Eigen::Matrix3d rTildeGcB_B: [m] tilde matrix of rGcB_B

Eigen::Matrix3d rTildeWcB_B: [m] tilde matrix of rWcB_B

Eigen::Vector3d rPrimeGcB_B: [m/s] body frame time derivative of rGcB_B

Eigen::Vector3d rPrimeWcB_B: [m/s] body frame time derivative of rWcB_B

Eigen::Matrix3d rPrimeTildeGcB_B: [m/s] tilde matrix of body frame time derivative of rGcB_B

Eigen::Matrix3d rPrimeTildeWcB_B: [m/s] tilde matrix of body frame time derivative of rWcB_B

Eigen::Vector3d aOmega: [1/m] 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: [rad/s^2] parameter used in coupled jitter back substitution

double eOmega: [kg-m^2] parameter used in coupled jitter back substitution

Eigen::Vector3d agamma: [1/m] parameter used in coupled jitter back substitution

Eigen::Vector3d bgamma: [-] parameter used in coupled jitter back substitution

double cgamma: [-] parameter used in coupled jitter back substitution

double dgamma: [rad/s^2] parameter used in coupled jitter back substitution

double egamma: [kg-m^2] parameter used in coupled jitter back substitution

Eigen::Vector3d p: [1/m] parameter used in coupled jitter back substitution

Eigen::Vector3d q: [-] parameter used in coupled jitter back substitution

double s: [rad/s^2] parameter used in coupled jitter back substitution

double gravityTorqueWheel_s: [N-m] gravitational torque on the wheel about wheel spin axis

double gravityTorqueGimbal_g: [N-m] gravitational torque on the gimbal about gimbal third axis