The hardware address of the PC104 that the IR-104 Relay Base Address E.g. 0x240 Board is on. For the 6DoF testbed this has been 0x240. Controllers LQRY Solution Overview: Legacy. Lyapunov Controller A controller using the Lyapunov control method outlined in Kelsey Saulnier, David Perez, Grace Tilton, Daniele Gallardo, Chris Shake, Rosemary Huang, Riccardo Bevilacqua, "Operational Capabilities of a Six Degrees of Freedom Spacecraft Simulator", AIAA GNC Boston, MA. (AIAA 2013-5253). Conference 2013, Inputs The current state of the controlled testbed. [position, rotation x_current (quaterion 0123), velocity, angular velocity] Desired final state of the testbed. (this can be changed over time) [position, rotation (quaterion 0123), velocity, angular x_desired velocity] An array containing [K1, K1, K1, K2, K2, K2, K3, K3, K3, K4, K4, K4, Position threshold, Angle threshold (deg), error mask other (12x1), delta] (goto) This block expects there is a goto block somewhere (t) which has the time and is called “t” (goto) This block expects there is a goto block somewhere which tells it when it is enabled. There is such a goto in the (enabled) State Estimator block so if that block is being used you do not have to worry about this. Outputs A (12x1) vector of 1s and 0s indicating the state the relays should be in to implement the control. (this output can be fed U into the Relay Board block with the 8&9 and 11&12 values switched. Value of the Lyapunov function. Often this is used for output debugging output. Current error as seen by the controller. This error is output after error the thresholds are applied. (from) Outputs A matrix of the Linear Reference Model as it is (A_read) created from the input K values. “other” (from) Outputs the threshold values being used. (thres_read)
Base Address The hardware address of the PC104 that the IR-104 Relay Board is on. For the 6DoF testbed this has been 0x240. E.g. 0x240 Controllers LQRY Solution Overview: Legacy. Lyapunov Controller A controller using the Lyapunov control method outlined in Kelsey Saulnier, David Perez, Grace Tilton, Daniele Gallardo, Chris Shake, Rosemary Huang, Riccardo Bevilacqua, "Operational Capabilities of a Six Degrees of Freedom Spacecraft Simulator", AIAA GNC Conference 2013, Boston, MA. (AIAA 2013-5253). Inputs x_current The current state of the controlled testbed. [position, rotation (quaterion 0123), velocity, angular velocity] x_desired Desired final state of the testbed. (this can be changed over time) [position, rotation (quaterion 0123), velocity, angular velocity] other An array containing [K1, K1, K1, K2, K2, K2, K3, K3, K3, K4, K4, K4, Position threshold, Angle threshold (deg), error mask (12x1), delta] (t) (goto) This block expects there is a goto block somewhere which has the time and is called “t” (enabled) (goto) This block expects there is a goto block somewhere which tells it when it is enabled. There is such a goto in the State Estimator block so if that block is being used you do not have to worry about this. Outputs U A (12x1) vector of 1s and 0s indicating the state the relays should be in to implement the control. (this output can be fed into the Relay Board block with the 8&9 and 11&12 values switched. output Value of the Lyapunov function. Often this is used for debugging output. error Current error as seen by the controller. This error is output after the thresholds are applied. (A_read) (from) Outputs A matrix of the Linear Reference Model as it is created from the “other” input K values. (thres_read) (from) Outputs the threshold values being used.
ADAMUS_Manual_12_14_2015.docx