VSCMGConfigMsgPayload

struct VSCMGConfigMsgPayload

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], position vector of the VSCMG relative to the spacecraft body frame

Eigen::Vector3d gsHat0_B

module variable

Eigen::Vector3d gsHat_B

[-] spin axis unit vector in body frame

Eigen::Vector3d gtHat0_B

module variable

Eigen::Vector3d gtHat_B

module variable

Eigen::Vector3d ggHat_B

module variable

Eigen::Vector3d w2Hat0_B

[-] initial torque axis unit vector in body frame

Eigen::Vector3d w2Hat_B

module variable

Eigen::Vector3d w3Hat0_B

[-] initial gimbal axis unit vector in body frame

Eigen::Vector3d w3Hat_B

module variable

double massV

[kg]

double massG

[kg]

double massW

[kg]

double theta

[rad], wheel angle

double Omega

[rad/s], wheel speed

double gamma

[s], gimbal angle

double gammaDot

[rad/s], gimbal rate

double IW1

[kg-m^2], spin axis gsHat rotor moment of inertia

double IW2

[kg-m^2], gtHat axis rotor moment of inertia

double IW3

[kg-m^2], ggHat axis rotor moment of inertia

double IW13

[kg-m^2], x-z inertia of wheel about wheel center in wheel frame (imbalance)

double IG1

[kg-m^2]

double IG2

[kg-m^2]

double IG3

[kg-m^2]

double IG12

[kg-m^2]

double IG13

[kg-m^2]

double IG23

[kg-m^2]

double IV1

[kg-m^2]

double IV2

[kg-m^2]

double IV3

[kg-m^2]

double rhoG

module variable

double rhoW

module variable

double U_s

[kg-m], static imbalance

double U_d

[kg-m^2], dynamic imbalance

Eigen::Vector3d rGcG_G

module variable

double d

[m], wheel center of mass offset from wheel frame origin

double l

module variable

double L

module variable

double u_s_current

[N-m], current motor torque

double u_s_max = -1.0

[N-m], Max torque

double u_s_min

[N-m], Min torque

double u_s_f

[N-m], Coulomb friction torque magnitude

double Omega_max = -1.0

[rad/s], max wheel speed

double wheelLinearFrictionRatio

[%] ratio relative to max speed value up to which the friction behaves linearly

double u_g_current

[N-m], current motor torque

double u_g_max = -1.0

[N-m], Max torque

double u_g_min

[N-m], Min torque

double u_g_f

[N-m], Coulomb friction torque magnitude

double gammaDot_max

[rad/s], max wheel speed

double gimbalLinearFrictionRatio

[%] ratio relative to max speed value up to which the friction behaves linearly

Eigen::Matrix3d IGPntGc_B

module variable

Eigen::Matrix3d IWPntWc_B

module variable

Eigen::Matrix3d IPrimeGPntGc_B

module variable

Eigen::Matrix3d IPrimeWPntWc_B

module variable

Eigen::Vector3d rGcG_B

module variable

Eigen::Vector3d rGcB_B

module variable

Eigen::Vector3d rWcB_B

module variable

Eigen::Vector3d rWcG_B

module variable

Eigen::Matrix3d rTildeGcB_B

module variable

Eigen::Matrix3d rTildeWcB_B

module variable

Eigen::Vector3d rPrimeGcB_B

module variable

Eigen::Vector3d rPrimeWcB_B

module variable

Eigen::Matrix3d rPrimeTildeGcB_B

module variable

Eigen::Matrix3d rPrimeTildeWcB_B

module variable

Eigen::Vector3d aOmega

[-], 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

module variable

double eOmega

module variable

Eigen::Vector3d agamma

module variable

Eigen::Vector3d bgamma

module variable

double cgamma

module variable

double dgamma

module variable

double egamma

module variable

Eigen::Vector3d p

module variable

Eigen::Vector3d q

module variable

double s

module variable

double gravityTorqueWheel_s

module variable

double gravityTorqueGimbal_g

module variable