#
# ISC License
#
# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
#
# Permission to use, copy, modify, and/or distribute this software for any
# purpose with or without fee is hereby granted, provided that the above
# copyright notice and this permission notice appear in all copies.
#
# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
#
#
# Simulation Setup Utilities for Thruster devices
#
import sys
from collections import OrderedDict
import numpy
from Basilisk.architecture import messaging
from Basilisk.simulation import thrusterDynamicEffector
[docs]class thrusterFactory(object):
"""Simulation Thruster Factory Class"""
def __init__(self):
self.useMinPulseTime = True
self.thrusterList = OrderedDict()
[docs] def create(self, thrusterType, r_B, tHat_B, **kwargs):
"""
This function is called to setup a thruster device in python, and adds it to the of thruster
factory in ``thrusterList{}``. The function returns a copy of the device that can be changed if needed.
The first 3 arguments are required, the remaining arguments are optional with:
Parameters
----------
thrusterType : string
thruster manufacturing name.:
r_B : list
vector with thruster location in B-frame components:
tHat_B : list
vector with thruster force direction unit vector:
kwargs:
useMinPulseTime: BOOL
flag if the thruster model should use a minimum impulse time
areaNozzle: float
thruster nozzle exhaust cone exit area
steadyIsp: float
thruster fuel efficiency in Isp (seconds)
MaxThrust: float
maximum thruster force in Newtons
thrusterMagDisp: float
thruster dispersion percentage
MinOnTime: float
thruster minimum on time
cutoffFrequency: float
frequency of first-order filter dynamics
swirlTorque: float
constant momentum from ionic thrusters
"""
# create the blank thruster object
TH = thrusterDynamicEffector.THRSimConfig()
# set default thruster values
TH.areaNozzle = 0.1 # [m^2]
TH.steadyIsp = 100 # [s]
TH.MaxThrust = 0.200 # [N]
TH.thrusterMagDisp = 0.0 # [%]
TH.MinOnTime = 0.020 # [s]
TH.cutoffFrequency = 10.0 # [rad/s]
TH.MaxSwirlTorque = 0.0 # [Nm]
# populate the thruster object with the type specific parameters
try:
eval('self.' + thrusterType + '(TH)')
except:
print('ERROR: Thruster type ' + thrusterType + ' is not implemented')
exit(1)
# set device states from the input arguments. Note that these may override what is set in
# the above function call
if 'areaNozzle' in kwargs:
varAreaNozzle = kwargs['areaNozzle']
if not isinstance(varAreaNozzle, (float)):
print('ERROR: areaNozzle must be a float argument')
exit(1)
else:
TH.areaNozzle = varAreaNozzle
if 'steadyIsp' in kwargs:
varSteadyIsp = kwargs['steadyIsp']
if not isinstance(varSteadyIsp, (float)):
print('ERROR: steadyIsp must be a float argument')
exit(1)
else:
TH.steadyIsp = varSteadyIsp
if 'MaxThrust' in kwargs:
varMaxThrust = kwargs['MaxThrust']
if not isinstance(varMaxThrust, (float)):
print('ERROR: MaxThrust must be a float argument')
exit(1)
else:
TH.MaxThrust = varMaxThrust
if 'MaxSwirlTorque' in kwargs:
varMaxSwirlTorque = kwargs['MaxSwirlTorque']
if not isinstance(varMaxSwirlTorque, (float)):
print('ERROR: MaxSwirlTorque must be a float argument')
exit(1)
else:
TH.MaxSwirlTorque = varMaxSwirlTorque
if 'thrusterMagDisp' in kwargs:
varThrusterMagDisp = kwargs['thrusterMagDisp']
if not isinstance(varMaxThrust, (float)):
print('ERROR: varThrusterMagDisp must be a float argument')
exit(1)
else:
TH.thrusterMagDisp = varThrusterMagDisp
if 'MinOnTime' in kwargs:
varMinOnTime = kwargs['MinOnTime']
if not isinstance(varMinOnTime, (float)):
print('ERROR: MinOnTime must be a float argument')
exit(1)
else:
TH.MinOnTime = varMinOnTime
if 'cutoffFrequency' in kwargs:
varCutoffFrequency = kwargs['cutoffFrequency']
if not isinstance(varCutoffFrequency, (float)):
print('ERROR: cutoffFrequency must be a float argument')
exit(1)
else:
TH.cutoffFrequency = varCutoffFrequency
if 'useMinPulseTime' in kwargs:
varUseMinPulseTime = kwargs['useMinPulseTime']
if not isinstance(varUseMinPulseTime, (bool)):
print('ERROR: useMinPulseTime must be a BOOL argument')
exit(1)
else:
varUseMinPulseTime = False # default value
if not varUseMinPulseTime:
TH.MinOnTime = 0.0
if 'label' in kwargs:
varLabel = kwargs['label']
if not isinstance(varLabel, (str)):
print('ERROR: TH label must be a string')
exit(1)
if len(varLabel) > 5:
print('ERROR: TH label string is longer than 5 characters')
exit(1)
else:
varLabel = 'TH' + str(len(self.thrusterList) + 1) # default device labeling
TH.label = varLabel
# set thruster force direction axis
norm = numpy.linalg.norm(tHat_B)
if norm > 1e-10:
tHat_B = tHat_B / norm
else:
print(
'Error: Thruster ' + sys._getframe().f_code.co_name + ' direction tHat input must be non-zero 3x1 vector')
exit(1)
TH.thrDir_B = [[tHat_B[0]], [tHat_B[1]], [tHat_B[2]]]
# set thruster position vector
TH.thrLoc_B = [[r_B[0]], [r_B[1]], [r_B[2]]]
# add TH to the list of TH devices
self.thrusterList[varLabel] = TH
return TH
[docs] def addToSpacecraft(self, modelTag, thEffector, sc):
"""
This function should be called after all Thruster devices are created with create()
It creates the C-class container for the array of TH devices, and attaches
this container to the spacecraft object
Parameters
----------
modelTag: string
module model tag string
thEffector: thrusterEffector
thruster effector handle
sc: spacecraft
"""
thEffector.ModelTag = modelTag
for key, th in list(self.thrusterList.items()):
thEffector.addThruster(th)
# Check the type of thruster effector
thrusterType = str(type(thEffector))
if 'ThrusterDynamicEffector' in thrusterType:
sc.addDynamicEffector(thEffector)
elif 'ThrusterStateEffector' in thrusterType:
sc.addStateEffector(thEffector)
else:
print("This isn't a thruster effector. You did something wrong.")
return
[docs] def getNumOfDevices(self):
"""
Returns the number of RW devices setup.
:return: number of thruster devices
"""
return len(self.thrusterList)
[docs] def getConfigMessage(self):
"""
Returns a FSW THRArrayConfigMsg reflecting the current thruster setup.
:return: thrMessage
"""
thrMessage = messaging.THRArrayConfigMsgPayload()
i = 0
for simThruster in self.thrusterList.values():
# Converts from THRConfigSimMsg to THRConfigFswMsg
fswThruster = messaging.THRConfigMsgPayload()
fswThruster.maxThrust = simThruster.MaxThrust
fswThruster.rThrust_B = [val for sublist in simThruster.thrLoc_B for val in sublist]
fswThruster.tHatThrust_B = [val for sublist in simThruster.thrDir_B for val in sublist]
messaging.ThrustConfigArray_setitem(thrMessage.thrusters, i, fswThruster)
i += 1
thrMessage.numThrusters = len(self.thrusterList.values())
thrConfigMsg = messaging.THRArrayConfigMsg().write(thrMessage)
thrConfigMsg.this.disown()
return thrConfigMsg
#
# MOOG Monarc-1
#
# Information Source:
# http://www.moog.com/literature/Space_Defense/Spacecraft/Propulsion/Monopropellant_Thrusters_Rev_0613.pdf
# http://www.moog.com/content/dam/moog/literature/Space_Defense/Spacecraft/Monopropellant_Thrusters_Rev_0613.pdf
#
# This is a MOOG mono-propellant thruster
#
def MOOG_Monarc_1(self, TH):
# maximum thrust [N]
TH.MaxThrust = 0.9
# minimum thruster on time [s]
TH.MinOnTime = 0.020
# Isp value [s]
TH.steadyIsp = 227.5
TH.areaNozzle = 0.000079 # [m^2]
return
#
# MOOG Monarc-5
#
# Information Source:
# http://www.moog.com/literature/Space_Defense/Spacecraft/Propulsion/Monopropellant_Thrusters_Rev_0613.pdf
# http://www.moog.com/content/dam/moog/literature/Space_Defense/Spacecraft/Monopropellant_Thrusters_Rev_0613.pdf
#
# This is a MOOG mono-propellant thruster
#
def MOOG_Monarc_5(self, TH):
# maximum thrust [N]
TH.MaxThrust = 4.5
# minimum thruster on time [s]
TH.MinOnTime = 0.020
# Isp value [s]
TH.steadyIsp = 226.1
TH.areaNozzle = 0.0020 # [m^2]
return
#
# MOOG Monarc-22-6
#
# Information Source:
# http://www.moog.com/literature/Space_Defense/Spacecraft/Propulsion/Monopropellant_Thrusters_Rev_0613.pdf
# http://www.moog.com/content/dam/moog/literature/Space_Defense/Spacecraft/Monopropellant_Thrusters_Rev_0613.pdf
#
# This is a MOOG mono-propellant thruster
#
def MOOG_Monarc_22_6(self, TH):
# maximum thrust [N]
TH.MaxThrust = 22.0
# minimum thruster on time [s]
TH.MinOnTime = 0.020
# Isp value [s]
TH.steadyIsp = 229.5
TH.areaNozzle = 0.0045 # [m^2]
return
#
# MOOG Monarc-22-12
#
# Information Source:
# http://www.moog.com/literature/Space_Defense/Spacecraft/Propulsion/Monopropellant_Thrusters_Rev_0613.pdf
# http://www.moog.com/content/dam/moog/literature/Space_Defense/Spacecraft/Monopropellant_Thrusters_Rev_0613.pdf
#
# This is a MOOG mono-propellant thruster
#
def MOOG_Monarc_22_12(self, TH):
# maximum thrust [N]
TH.MaxThrust = 22.0
# minimum thruster on time [s]
TH.MinOnTime = 0.020
# Isp value [s]
TH.steadyIsp = 228.1
TH.areaNozzle = 0.0088 # [m^2]
return
#
# MOOG Monarc-90LT
#
# Information Source:
# http://www.moog.com/literature/Space_Defense/Spacecraft/Propulsion/Monopropellant_Thrusters_Rev_0613.pdf
# http://www.moog.com/content/dam/moog/literature/Space_Defense/Spacecraft/Monopropellant_Thrusters_Rev_0613.pdf
#
# This is a MOOG mono-propellant thruster
#
def MOOG_Monarc_90LT(self, TH):
# maximum thrust [N]
TH.MaxThrust = 90.0
# minimum thruster on time [s]
TH.MinOnTime = 0.020
# Isp value [s]
TH.steadyIsp = 232.1
TH.areaNozzle = 0.0222 # [m^2]
return
#
# MOOG Monarc-90HT
#
# Information Source:
# http://www.moog.com/literature/Space_Defense/Spacecraft/Propulsion/Monopropellant_Thrusters_Rev_0613.pdf
# http://www.moog.com/content/dam/moog/literature/Space_Defense/Spacecraft/Monopropellant_Thrusters_Rev_0613.pdf
# This is a MOOG mono-propellant thruster
#
def MOOG_Monarc_90HT(self, TH):
# maximum thrust [N]
TH.MaxThrust = 116.0
# minimum thruster on time [s]
TH.MinOnTime = 0.010
# Isp value [s]
TH.steadyIsp = 234.0
TH.areaNozzle = 0.0222 # [m^2]
return
#
# MOOG Monarc-445
#
# Information Source:
# http://www.moog.com/literature/Space_Defense/Spacecraft/Propulsion/Monopropellant_Thrusters_Rev_0613.pdf
# http://www.moog.com/content/dam/moog/literature/Space_Defense/Spacecraft/Monopropellant_Thrusters_Rev_0613.pdf
#
# This is a MOOG mono-propellant thruster
#
def MOOG_Monarc_445(self, TH):
# maximum thrust [N]
TH.MaxThrust = 445.0
# minimum thruster on time [s]
TH.MinOnTime = 0.025
# Isp value [s]
TH.steadyIsp = 234.0
TH.areaNozzle = 0.06881 # [m^2]
return
def SEP(self, TH):
# maximum thrust [N]
TH.MaxThrust = 0.030
# minimum thruster on time [s]
TH.MinOnTime = 0.025
# Isp value [s]
TH.steadyIsp = 3000.0
# maximum swirl torque [Nm]
TH.MaxSwirlTorque = 0.05
TH.areaNozzle = 0.06881 # [m^2]
return
def TEST_Thruster(self, TH):
# maximum thrust [N]
TH.MaxThrust = 0.9
# minimum thruster on time [s]
TH.MinOnTime = 0.020
# Isp value [s]
TH.steadyIsp = 227.5
# nozzle area [m^2]
TH.areaNozzle = 0.07
return
def Blank_Thruster(self, TH):
# this method doesn't set any thruster properties. Rather, it is assumed that all thruster
# properties are defined explicitly in the create function, or external to the create function
return