From 1fd3c9548cae100955986865bb56e30c65e98b43 Mon Sep 17 00:00:00 2001 From: Glenn Dwiyatcita Date: Sun, 12 May 2019 14:07:28 +0200 Subject: [PATCH] Proof TVCDAPS #266 (#397) * Proof FIXED_FIXED_CONSTANT_POOL (#207) * wip(pp. 0961-0965): Proof TVCDAPS #266 * done(pp. 0961-0978): Proof TVCDAPS #266 --- Comanche055/TVCDAPS.agc | 83 +++++++++++++++++++++-------------------- 1 file changed, 43 insertions(+), 40 deletions(-) diff --git a/Comanche055/TVCDAPS.agc b/Comanche055/TVCDAPS.agc index 24000a9..8128b07 100644 --- a/Comanche055/TVCDAPS.agc +++ b/Comanche055/TVCDAPS.agc @@ -34,46 +34,45 @@ # Page 961 # PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC. -# LOG SECTION....TVCDAPS SUBROUTINE....DAPCSM +# LOG SECTION...TVCDAPS SUBROUTINE...DAPCSM # MODIFIED BY SCHLUNDT 21 OCTOBER 1968 -# -# FUNCTIONAL DESCRIPTION -# +# FUNCTIONAL DESCRIPTION.... + # SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS # FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS, # IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING # (S40.8). IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD # ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS). -# + # THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY. # EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION, # GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR -# INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTERS +# INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTER # FOR CSM OR CSM/LM OPERATION. A FILTER OUTPUT LIMITER. # CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP. -# + # THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE # TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE # REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH # TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU # MODING. -# + # CALLING SEQUENCE.... (TYPICALLY) -# + # T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40) # T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE) # T5 CALL OF PITCHDAP BY DAPINIT # T5 CALL OF YAWDAP BY PITCHDAP # T5 CALL OF PITCHDAP BY YAWDAP -# ETC. +# ETC. # (AUTOMATIC SEQUENCING FROM TVCDAPON) -# + # NORMAL EXIT MODE....RESUME -# + # ALARM OR ABORT EXIT MODES....NONE -# + # SUBROUTINES CALLED.... -# + # HACK FOR STROKE TEST (V68) WAVEFORM GENERATION # PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE) # DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS @@ -83,38 +82,37 @@ # FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER # OUTPUTS AND STORAGE VALUES # RESUME -# + # Page 962 -# OTHER INTERFACES -# +# OTHER INTERFACES.... + # S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC # S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC # TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS # TVCRESTART PACKAGE FOR TVC RESTART PROTECTION. -# + # ERASABLE INITIALIZATION REQUIRED.... -# -# PAD-LOAD ERASABLES (SEE ERASABLE ASSIGNMENTS) + +# PAD-LOAD ERASABLES ( SEE ERASABLE ASSIGNMENTS ) # CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03 # ENGINE-ON BIT (11.13) FOR RESTARTS -# TVCPHASE FOR RESTARTS (SEE DOTVCON, AND TVCINIT4) +# TVCPHASE FOR RESTARTS ( SEE DOTVCON, AND TVCINIT4 ) # T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS # MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4, # INCLUDING THE ZEROING OF TEMPORARIES BY MRCLEAN -# CDUX,Y,Z AND SINCDUX.... COSCDUX AS PREPARED BY QUICTRIG1 (WITH +# CDUX,Y,Z AND SINCDUX....COSCDUX AS PREPARED BY QUICTRIG (WITH # UPDATES EVERY 1/2 SECOND) # ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE # UNLESS BENCH-TESTING. # # OUTPUT.... # -# TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMENTAL -# COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY- +# TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN- +# TAL COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY- # AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS, # OFFSET-TRACKER-FILTER OUTPUTS, ETC. -# # DEBRIS.... -# + # MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY BANK 17 @@ -126,7 +124,7 @@ COUNT* $$/DAPS # Page 963 -# PITCH TVCDAP STARTS HERE....(INCOPORATES CSM/LEM DAP FILTER, MODOR DESIGN) +# PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN) PITCHDAP LXCH BANKRUPT # T5 ENTRY, NORMAL OR VIA DAPINIT EXTEND @@ -158,7 +156,7 @@ PCDUDOTS CAE CDUY # COMPUTE CDUYDOT (USED BY PITCH AND YAW) TCF PINTEGRL RLIMTEST TS TTMP1 # TEST FOR EXCESSIVE CDU RATES (GREATER - EXTEND # THAN 2.33 DEG IN ONE SAMPLE PERIOD + EXTEND # THAN 2.33 DEG IN ONE SAMPLE PERIOD) MP 1/RTLIM EXTEND BZF +3 @@ -238,7 +236,7 @@ PPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR PITCH TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION -DELBARP CAE DELPBAR +1 +DELBARP CAE DELPBAR +1 # UPDATE PITCH OFFSET-TRACKER-FILTER EXTEND MP E(-AT) TS DELBRTMP +1 @@ -343,7 +341,7 @@ YINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE DCS OMEGAZB DAS ERRBTMP -YERORLIM TCR ERRORLIM # YAW BODY-AXIS-ERROR INPUT LIMITER +YERORLIM TCR ERRORLIM # YAW BODY-AXIS-ERROR INPUT LIMITER YFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS DCA YTMP1 # FOR THE YAW CHANNEL @@ -363,7 +361,7 @@ YOFFSET EXTEND DCA YDELOFF DAS CMDTMP # NOW SCALED AT B+0 ASCREV -YACLIM TCR ACTLIM # YAW ACTUATOR-COMMAND-LIMITER +YACLIM TCR ACTLIM # ROUND OFF & LIMIT YAW ACTUATOR COMMAND YOUT CS YCMD # INCREMENTAL YAW COMMAND AD CMDTMP @@ -443,7 +441,7 @@ YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR DCA DELBRTMP DXCH DELYBAR - CAF ZERO # YAW COPYCYCLE COMPLETED + CAF ZERO # YAW COPYCYCLE COMPLETED TS TVCPHASE # RESET TVCPHASE TC Q @@ -451,6 +449,7 @@ YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR # Page 971 # SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS.... + # INITIALIZATION PACKAGE FOR CDURATES.... DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4) @@ -485,6 +484,7 @@ ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT TC Q + # ACTUATOR-COMMAND LIMITER PACKAGE.... ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT @@ -506,6 +506,7 @@ ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT TC Q + # FILTER COMPUTATIONS FOR PRESENT OUTPUT................ FWDFLTR CAF ZERO @@ -568,18 +569,19 @@ OPTVARK CS DAP3 +1 # VARIABLE GAIN PACKAGE MP VARK DAS CMDTMP - DXCH CMDTMP # FIX UP SCALING -- SCALED B+3 ASCREVS + DXCH CMDTMP # FIX UP SCALING - SCALED B+3 ASCREVS DDOUBL DDOUBL - DXCH CMDTMP # -- SCALED B+1 ASCREVS - # NOTE -- THERE IS AN INHERENT GAIN OF + DXCH CMDTMP # - SCALED B+1 ASCREVS + # NOTE - THERE IS AN INHERANT GAIN OF # (B+1 ASCREVS) ON THE OUTPUT DACS. TC Q + # FILTER PRECOMPUTATIONS FOR NEXT PASS................ -PRECOMP CAF ZERO # **** FIRST CASCADE FILTER ********** +PRECOMP CAF ZERO # ***** FIRST CASCADE FILTER ********** TS TTMP1 TS TTMP2 @@ -637,7 +639,7 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER ********** DXCH TTMP1 DAS TMP2 -2CASFLTR CAF ZERO # **** SECOND CASCADE FILTER ********** +2CASFLTR CAF ZERO # *****SECOND CASCADE FILTER***** TS TTMP1 TS TTMP2 @@ -674,7 +676,7 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER ********** TS TMP4 CA DAP1 +1 # MULTIPLY INPUT BY - EXTEND # SECOND-ORDER NUMERATOR COEFF. + EXTEND MP N10 +7 # N22 TS TTMP1 +1 CA DAP1 @@ -694,13 +696,14 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER ********** DXCH TTMP1 DAS TMP4 + CAE DAPDATR1 # TEST FOR LEM ON OR OFF MASK BIT13 CCS A TC Q # EXIT IF LEM OFF # Page 976 -3CASFLTR CAF ZERO # **** THIRD CASCADE FILTER ********** +3CASFLTR CAF ZERO # *****THIRD CASCADE FILTER***** TS TTMP1 TS TTMP2 @@ -763,6 +766,7 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER ********** # CONSTANTS FOR AUTOPILOTS # NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41x16384/3600/360) + # 1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS ACTSAT DEC 253 # ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV @@ -778,4 +782,3 @@ YAWT5 GENADR YAWDAP # REQUIRED. 1/RTLIM DEC 0.004715 # .004715(CDUDIF) = 0 IF CDUIF < 2.33 DEG 1-E(-AT) OCT 00243 # AT = .01SEC....EITHER(1/A=4SEC, T=40MS), E(-AT) OCT 37535 # OR(1/A=8SEC, T=80MS) -