2016-07-07 08:47:26 +00:00
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# Copyright: Public domain.
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# Filename: AUTOMATIC_MANEUVERS.agc
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# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
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# It is part of the source code for the Command Module's (CM)
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# Apollo Guidance Computer (AGC), for Apollo 11.
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# Assembler: yaYUL
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# Contact: Ron Burkey <info@sandroid.org>.
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# Website: www.ibiblio.org/apollo.
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# Pages: 1025-1036
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# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
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# same name, using Comanche055 page images.
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#
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# This source code has been transcribed or otherwise adapted from digitized
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# images of a hardcopy from the MIT Museum. The digitization was performed
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# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
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# thanks to both. The images (with suitable reduction in storage size and
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# consequent reduction in image quality as well) are available online at
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# www.ibiblio.org/apollo. If for some reason you find that the images are
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# illegible, contact me at info@sandroid.org about getting access to the
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# (much) higher-quality images which Paul actually created.
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#
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# Notations on the hardcopy document read, in part:
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#
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# Assemble revision 055 of AGC program Comanche by NASA
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# 2021113-051. 10:28 APR. 1, 1969
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#
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# This AGC program shall also be referred to as
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# Colossus 2A
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# Page 1025
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BANK 21
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SETLOC DAPS3
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BANK
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COUNT 21/DAPAM
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EBANK= KMPAC
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AHFNOROT EXTEND
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READ CHAN31
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MASK BIT14
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EXTEND
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BZMF FREECONT
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CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED
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MASK BIT14
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CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL
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TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER
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# AUTOMATIC CONTROL YET
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EXTEND
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READ CHAN31
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MASK BIT13
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EXTEND
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BZMF HOLDFUNC
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AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG.
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EXTEND # OTHERWISE, GO TO ATTHOLD.
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BZMF ATTHOLD
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TCF GRABANG
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# MINIMUM IMPULSE CONTROL
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FREECONT CAF ONE
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TS HOLDFLAG # RESET HOLDFLAG
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# INHIBIT AUTOMATIC STEERING
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EXTEND
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READ CHAN32
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TS L
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COM
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MASK MANROT
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MASK CHANTEMP
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LXCH CHANTEMP
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TC STICKCHK
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INDEX RMANNDX
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CA MINTAU # MINTAU +0
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TS TAU # +1 +14MS MINIMUM IMPULSE
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INDEX PMANNDX # +2 -14MS TIME
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CA MINTAU # +3 +0
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TS TAU1
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INDEX YMANNDX
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CA MINTAU
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# Page 1026
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TS TAU2
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TCF T6PROGM
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MINTAU DEC 0
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DEC 23 # = 14MS
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DEC -23 # = -14MS
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DEC 0
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# Page 1027
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# CALCULATION OF ATTITUDE ERRORS:
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# _ * _ _ _
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# AK = AMGB (CDUX - THETADX) + BIAS
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#
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# I.E., *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS *
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# * * * ** * * *
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# *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1*
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# * * * ** * * *
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# *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2*
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#
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# THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
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# AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
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# BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
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# FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
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ATTHOLD CA CDUX
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EXTEND
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MSU THETADX
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TS ERRORX
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CA CDUY
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EXTEND
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MSU THETADY
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TS T5TEMP
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EXTEND
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MP AMGB1
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ADS ERRORX
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CA T5TEMP
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EXTEND
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MP AMGB4
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TS ERRORY
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CA T5TEMP
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EXTEND
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MP AMGB7
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TS ERRORZ
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CA CDUZ
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EXTEND
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MSU THETADZ
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TS T5TEMP
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EXTEND
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MP AMGB5
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ADS ERRORY
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CA T5TEMP
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EXTEND
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MP AMGB8
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ADS ERRORZ
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CS HOLDFLAG
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EXTEND
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# Page 1028
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BZMF JETS
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CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC
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ADS ERRORX
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CA BIAS1
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ADS ERRORY
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CA BIAS2
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ADS ERRORZ
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TCF JETS
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HOLDFUNC CCS HOLDFLAG
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TCF +3
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TCF ATTHOLD
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TCF +1
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GRABANG CAF ZERO # ZERO WBODYS AND BIASES
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TS WBODY
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TS WBODY +1
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TS WBODY1
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TS WBODY1 +1
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TS WBODY2
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TS WBODY2 +1
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TS BIAS
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TS BIAS1
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TS BIAS2
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CA RCSFLAGS
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MASK OCT16000
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EXTEND # IS RATE DAMPING COMPLETED
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BZF ENDDAMP # IF SO, GO TO ENDDAMP
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CAF ZERO # OTHERWISE, ZERO ERRORS
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TS ERRORX
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TS ERRORY
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TS ERRORZ
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TCF JETS
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ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
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EXTEND
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DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD
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DXCH THETADX # REFERENCES
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CA CDUZ
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TS THETADZ
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TCF ATTHOLD
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# Page 1029
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# JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
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#
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# DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
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# PLANE.
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#
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# COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE S/C INTO THE
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# APPROPRIATE DEADZONE.
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#
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# .
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# R22 RATE . ERROR
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# WL+H .
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# ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES
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# R23 WL * .
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# ----------------------------------* . ----- DESIRED RATE LINES
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# R23 WL-H - *.
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# ****************** - . R20, R21, R22, ETC REGIONS IN PHASE
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# * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE
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# * . *
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# *- . *
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# R22 R24*- R23 . *
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# * . *
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# * . *
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# + -ADB . * AF ATTITUDE
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# ........................+--+---------------+--+........................
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# AF * . +ADB + ERROR
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# * . *
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# * . -*
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# * . -*
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# * . -*
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# * . *
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# *. - *
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# . - *****************
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# .*-
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# . * --------------------------------
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# .
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# .
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# FIG. 1 PHASE PLANE SWITCHING LOGIC
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#
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# CONSTANTS FOR JET SWITCHING LOGIC
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WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180
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WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG $180
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WLH 2DEC .0011111111 # = WL+H = 0.5 DEG/SEC $450
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WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC $450
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WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC $450
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# Page 1030
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SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG $450/180
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JETS CA ADB
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AD FOUR # AF = FLAT REGION = .044 DEG
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TS T5TEMP # ADB+AF
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CAF TWO
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JLOOP TS SPNDX
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DOUBLE
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TS DPNDX
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EXTEND
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INDEX A
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DCA ADOT
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DXCH EDOT
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CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN
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EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER.
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BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION
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# OF WBODY AND GO TO INHOLD
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EXTEND
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INDEX DPNDX
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DCS WBODY
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DAS EDOT # = ADOT-WBODY
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INHOLD INDEX SPNDX
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CA ERRORX
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TS AERR # AERR = BIAS + AK
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CCS EDOT
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TCF POSVEL
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TCF SIGNCK1
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TCF NEGVEL
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SIGNCK1 CCS EDOT +1
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TCF POSVEL
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TCF POSVEL
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TCF NEGVEL
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TCF NEGVEL
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POSVEL EXTEND
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DCA EDOT
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DXCH EDOTVEL
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CA T5TEMP
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TS ADBVEL # +(ADB+AF)
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CA AERR
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TS AERRVEL
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TC J6.
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NEGVEL EXTEND
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DCS EDOT
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DXCH EDOTVEL
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CS T5TEMP
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TS ADBVEL # -(ADB+AF)
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CS AERR
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TS AERRVEL
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J6. EXTEND
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# Page 1031
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SU ADB
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AD WLH/SLOP
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EXTEND
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BZMF J8
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CS T5TEMP # (ADB+AF)
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AD AERRVEL
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EXTEND
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BZMF +2
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TCF J7
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EXTEND
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DCS EDOTVEL
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EXTEND
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DV SLOPE
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EXTEND
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SU AERRVEL
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AD ADB
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EXTEND
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BZMF J18
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TCF J23
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J7 CS WL-H/SLP
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EXTEND
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SU T5TEMP # (ADB+AF)
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AD AERRVEL
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EXTEND
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BZMF J20
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TCF J21
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J8 EXTEND
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DCS WLH
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DXCH WTEMP
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EXTEND
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DCA EDOTVEL
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DAS WTEMP
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CCS WTEMP
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TCF J22
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TCF SIGNCK2
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TCF NJ22
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SIGNCK2 CCS WTEMP +1
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TCF J22
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TCF J22
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TCF NJ22
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NJ22 EXTEND
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DCA EDOTVEL
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EXTEND
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DV SLOPE
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AD T5TEMP # (ADB+AF)
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AD AERRVEL
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# Page 1032
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CCS A
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TCF J23
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TCF J23
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TCF +2
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TCF J23
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EXTEND
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DCS WLMH # WL - H
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DXCH WTEMP
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EXTEND
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DCA EDOTVEL
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DAS WTEMP
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CCS WTEMP
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TCF J23
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TCF SIGNCK3
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TCF NJ23
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SIGNCK3 CCS WTEMP +1
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TCF J23
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TCF J23
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TCF NJ23
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NJ23 CA AERRVEL
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AD T5TEMP # (ADB+AF)
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AD WL-H/SLP
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CCS A
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TCF J24
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TCF J24
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TCF J22
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TCF J22
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J18 EXTEND
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DCS EDOT
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DXCH KMPAC
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TCF JTIME
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J20 CS AERR
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AD ADBVEL
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EXTEND
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MP SLOPE2 # (HYSTERESIS SLOPE)
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DXCH KMPAC
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EXTEND
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DCS EDOT
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DAS KMPAC
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TCF JTIME
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J21 CCS EDOT
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TCF JP
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TCF SIGNCK4
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TCF JN
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SIGNCK4 CCS EDOT +1
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# Page 1033
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TCF JP
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TCF JP
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TCF JN
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JN EXTEND
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DCS EDOT
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DXCH KMPAC
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EXTEND
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DCA WL
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DAS KMPAC
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TCF JTIME
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JP EXTEND
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DCS EDOT
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DXCH KMPAC
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EXTEND
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DCS WL
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DAS KMPAC
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TCF JTIME
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J22 CCS EDOT
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TCF JN
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TCF SIGNCK5
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TCF JP
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SIGNCK5 CCS EDOT +1
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TCF JN
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TCF JN
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TCF JP
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TCF JP
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J23 INDEX SPNDX
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CS BIT13 # RESET RATE DAMPING FLAG
|
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|
MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0)
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|
TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1)
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|
# BIT11 FOR YAW (SPNDX = 2)
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INDEX SPNDX
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|
CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS
|
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MASK RCSFLAGS # AXIS
|
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EXTEND
|
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|
BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING
|
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TCF J18 # YES, GO TO J18 AND FORCE A FIRING
|
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J24 CS AERR
|
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EXTEND
|
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|
SU ADBVEL
|
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|
EXTEND
|
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|
|
|
MP SLOPE2 # (HYSTERESIS SLOPE)
|
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|
DXCH KMPAC
|
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|
|
|
EXTEND
|
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|
|
# Page 1034
|
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DCS EDOT
|
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|
DAS KMPAC
|
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|
# Page 1035
|
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|
|
|
# COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, I.E.,
|
|
|
|
|
#
|
|
|
|
|
# T = J/M(DELTA W)
|
|
|
|
|
# J
|
|
|
|
|
#
|
|
|
|
|
# DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
|
|
|
|
|
# SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
|
|
|
|
|
#
|
|
|
|
|
# J/M = S/C INERTIA TO TORQUE RATIO SCALED BY
|
|
|
|
|
# (57.3/450)(B24/1600)(1/.8)
|
|
|
|
|
# FOR 1 JET OPERATION (M = 700 FT-LB).
|
|
|
|
|
# I.E., J/M = J(SLUG-FTFT) x 0.00000085601606
|
|
|
|
|
#
|
|
|
|
|
# THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
|
|
|
|
|
# KEYBOARD ENTRY ARE
|
|
|
|
|
# J/M (ROLL)
|
|
|
|
|
# J/M1 (PITCH)
|
|
|
|
|
# J/M2 (YAW)
|
|
|
|
|
#
|
|
|
|
|
# T = JET-ON TIME SCALED 16384/1600 SEC
|
|
|
|
|
# J
|
|
|
|
|
#
|
|
|
|
|
# THE COMPUTER VARIABLES ARE
|
|
|
|
|
# TAU (ROLL)
|
|
|
|
|
# TAU1 (PITCH)
|
|
|
|
|
# TAU2 (YAW)
|
|
|
|
|
|
|
|
|
|
JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO
|
|
|
|
|
CA J/M # SCALED (57.3/450)(B24/1600)
|
|
|
|
|
TC SMALLMP # FOR 1-JET OPERATION
|
|
|
|
|
CA BIT11
|
|
|
|
|
TC SMALLMP
|
|
|
|
|
CCS KMPAC
|
|
|
|
|
TCF +4
|
|
|
|
|
TCF TAUNORM
|
|
|
|
|
TCF +4
|
|
|
|
|
TCF TAUNORM
|
|
|
|
|
CA POSMAX
|
|
|
|
|
TCF DOJET
|
|
|
|
|
CA NEGMAX
|
|
|
|
|
TCF DOJET
|
|
|
|
|
|
|
|
|
|
TAUNORM CA KMPAC +1
|
|
|
|
|
DOJET INDEX SPNDX
|
|
|
|
|
TS TAU
|
|
|
|
|
CCS SPNDX
|
|
|
|
|
TCF JLOOP
|
|
|
|
|
TCF T6PROG
|
|
|
|
|
|
|
|
|
|
# Page 1036
|
|
|
|
|
ZEROCMDS CAF ZERO
|
|
|
|
|
TS TAU
|
|
|
|
|
TS TAU1
|
|
|
|
|
TS TAU2
|
|
|
|
|
T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS)
|
2016-07-08 10:45:31 +00:00
|
|
|
DCA JETADDR # HAVE BEEN DETERMINED
|
2016-07-07 08:47:26 +00:00
|
|
|
DXCH T5LOC # RESET T5LOC FOR PHASE3
|
|
|
|
|
TCF RESUME
|
|
|
|
|
|
|
|
|
|
EBANK= KMPAC
|
|
|
|
|
JETADDR 2CADR JETSLECT
|
|
|
|
|
|
