Skip to content

Control limit experiment [DO NOT MERGE] #4

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
thetazero wants to merge 2 commits into
base: main
Choose a base branch
from
Open

Control limit experiment [DO NOT MERGE] #4

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
d4c788e
Control limit experiment
thetazero Oct 10, 2023
e4bfce2
fixes
thetazero Oct 10, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
28 changes: 24 additions & 4 deletions simulator_test/detumble.jl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -32,21 +32,41 @@ Detumble = Controller(
py4_dipole_limits
)

δ=0.053130000000000004*0.0002
# δ=0.2

function saturate(x, r)
if abs(x) <= δ
return 0
elseif x > δ
return r
elseif x < -δ
return -r
end
return 0
end

function control_law(measurement, t)
(state, params) = measurement

ᵇQⁿ = SP.quaternionToMatrix(state.attitude)'


m = Detumble.get_control(state.angular_velocity, ᵇQⁿ * params.b)
for i in 1:3
m[i] = saturate(m[i], py4_dipole_limits[i])
end

@assert clamp.(m, -py4_dipole_limits, py4_dipole_limits) ≈ m

return SP.Control(
clamp.(m, -py4_dipole_limits, py4_dipole_limits)
m
)
end



down_sample_rate = 100
down_sample_rate = 10

function log_state(state)
return [state.angular_velocity; norm(state.angular_velocity)]
Expand All @@ -68,7 +88,7 @@ function slow_rotation(state, params, t, i)
return norm(state.angular_velocity) < deg2rad(0.1)
end

day = 60 * 60 * 24
day = 60 * 60
time_step = 0.1
@time (data, time) = SP.simulate(control_law, max_iterations=day / time_step, dt=time_step,
log_init=log_init, log_step=log_step, log_end=log_end, initial_condition=x0, terminal_condition=slow_rotation)
Expand All @@ -79,4 +99,4 @@ time /= 60

data = rad2deg.(data)

display(plot(time, data, title="DeTumbling", xlabel="Time (minutes)", ylabel="Angular Velocity (deg/s)", labels=["ω1" "ω2" "ω3" "ω"]))
display(plot(time, data, title="DeTumbling with (δ = $δ)", xlabel="Time (minutes)", ylabel="Angular Velocity (deg/s)", labels=["ω1" "ω2" "ω3" "ω"]))