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Proof TVCDAPS #266 (#397)

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* Proof FIXED_FIXED_CONSTANT_POOL (#207)

* wip(pp. 0961-0965): Proof TVCDAPS #266

* done(pp. 0961-0978): Proof TVCDAPS #266
This commit is contained in:
Glenn Dwiyatcita 2019-05-12 14:07:28 +02:00 committed by James Harris
parent 80d781c20e
commit 1fd3c9548c
1 changed files with 43 additions and 40 deletions
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77
Comanche055/TVCDAPS.agc
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@ -34,32 +34,31 @@
# Page 961 # Page 961
# PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC. # PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.
# LOG SECTION....TVCDAPS SUBROUTINE....DAPCSM # LOG SECTION...TVCDAPS SUBROUTINE...DAPCSM
# MODIFIED BY SCHLUNDT 21 OCTOBER 1968 # MODIFIED BY SCHLUNDT 21 OCTOBER 1968
# # FUNCTIONAL DESCRIPTION....
# FUNCTIONAL DESCRIPTION
#
# SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS # SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS
# FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS, # FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,
# IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING # IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING
# (S40.8). IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD # (S40.8). IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD
# ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS). # ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
#
# THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY. # THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.
# EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION, # EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,
# GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR # 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. # FOR CSM OR CSM/LM OPERATION. A FILTER OUTPUT LIMITER.
# CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP. # CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
#
# THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE # THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE
# TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE # TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE
# REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH # REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH
# TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU # TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU
# MODING. # MODING.
#
# CALLING SEQUENCE.... (TYPICALLY) # CALLING SEQUENCE.... (TYPICALLY)
#
# T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40) # T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40)
# T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE) # T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE)
# T5 CALL OF PITCHDAP BY DAPINIT # T5 CALL OF PITCHDAP BY DAPINIT
@ -67,13 +66,13 @@
# T5 CALL OF PITCHDAP BY YAWDAP # T5 CALL OF PITCHDAP BY YAWDAP
# ETC. # ETC.
# (AUTOMATIC SEQUENCING FROM TVCDAPON) # (AUTOMATIC SEQUENCING FROM TVCDAPON)
#
# NORMAL EXIT MODE....RESUME # NORMAL EXIT MODE....RESUME
#
# ALARM OR ABORT EXIT MODES....NONE # ALARM OR ABORT EXIT MODES....NONE
#
# SUBROUTINES CALLED.... # SUBROUTINES CALLED....
#
# HACK FOR STROKE TEST (V68) WAVEFORM GENERATION # HACK FOR STROKE TEST (V68) WAVEFORM GENERATION
# PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE) # PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)
# DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS # DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS
@ -83,38 +82,37 @@
# FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER # FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER
# OUTPUTS AND STORAGE VALUES # OUTPUTS AND STORAGE VALUES
# RESUME # RESUME
#
# Page 962 # Page 962
# OTHER INTERFACES # OTHER INTERFACES....
#
# S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC # S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC
# S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC # S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC
# TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS # TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS
# TVCRESTART PACKAGE FOR TVC RESTART PROTECTION. # TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
#
# ERASABLE INITIALIZATION REQUIRED.... # ERASABLE INITIALIZATION REQUIRED....
#
# PAD-LOAD ERASABLES (SEE ERASABLE ASSIGNMENTS) # PAD-LOAD ERASABLES ( SEE ERASABLE ASSIGNMENTS )
# CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03 # CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03
# ENGINE-ON BIT (11.13) FOR RESTARTS # 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 # T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS
# MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4, # MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,
# INCLUDING THE ZEROING OF TEMPORARIES BY MRCLEAN # 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) # UPDATES EVERY 1/2 SECOND)
# ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE # ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE
# UNLESS BENCH-TESTING. # UNLESS BENCH-TESTING.
# #
# OUTPUT.... # OUTPUT....
# #
# TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMENTAL # TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-
# COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY- # TAL COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-
# AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS, # AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,
# OFFSET-TRACKER-FILTER OUTPUTS, ETC. # OFFSET-TRACKER-FILTER OUTPUTS, ETC.
#
# DEBRIS.... # DEBRIS....
#
# MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY # MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
BANK 17 BANK 17
@ -126,7 +124,7 @@
COUNT* $$/DAPS COUNT* $$/DAPS
# Page 963 # 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 PITCHDAP LXCH BANKRUPT # T5 ENTRY, NORMAL OR VIA DAPINIT
EXTEND EXTEND
@ -158,7 +156,7 @@ PCDUDOTS CAE CDUY # COMPUTE CDUYDOT (USED BY PITCH AND YAW)
TCF PINTEGRL TCF PINTEGRL
RLIMTEST TS TTMP1 # TEST FOR EXCESSIVE CDU RATES (GREATER 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 MP 1/RTLIM
EXTEND EXTEND
BZF +3 BZF +3
@ -238,7 +236,7 @@ PPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR PITCH
TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION
DELBARP CAE DELPBAR +1 DELBARP CAE DELPBAR +1 # UPDATE PITCH OFFSET-TRACKER-FILTER
EXTEND EXTEND
MP E(-AT) MP E(-AT)
TS DELBRTMP +1 TS DELBRTMP +1
@ -363,7 +361,7 @@ YOFFSET EXTEND
DCA YDELOFF DCA YDELOFF
DAS CMDTMP # NOW SCALED AT B+0 ASCREV 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 YOUT CS YCMD # INCREMENTAL YAW COMMAND
AD CMDTMP AD CMDTMP
@ -451,6 +449,7 @@ YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR
# Page 971 # Page 971
# SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS.... # SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
# INITIALIZATION PACKAGE FOR CDURATES.... # INITIALIZATION PACKAGE FOR CDURATES....
DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4) DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4)
@ -485,6 +484,7 @@ ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT
TC Q TC Q
# ACTUATOR-COMMAND LIMITER PACKAGE.... # ACTUATOR-COMMAND LIMITER PACKAGE....
ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT
@ -506,6 +506,7 @@ ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT
TC Q TC Q
# FILTER COMPUTATIONS FOR PRESENT OUTPUT................ # FILTER COMPUTATIONS FOR PRESENT OUTPUT................
FWDFLTR CAF ZERO FWDFLTR CAF ZERO
@ -568,18 +569,19 @@ OPTVARK CS DAP3 +1 # VARIABLE GAIN PACKAGE
MP VARK MP VARK
DAS CMDTMP DAS CMDTMP
DXCH CMDTMP # FIX UP SCALING -- SCALED B+3 ASCREVS DXCH CMDTMP # FIX UP SCALING - SCALED B+3 ASCREVS
DDOUBL DDOUBL
DDOUBL DDOUBL
DXCH CMDTMP # -- SCALED B+1 ASCREVS DXCH CMDTMP # - SCALED B+1 ASCREVS
# NOTE -- THERE IS AN INHERENT GAIN OF # NOTE - THERE IS AN INHERANT GAIN OF
# (B+1 ASCREVS) ON THE OUTPUT DACS. # (B+1 ASCREVS) ON THE OUTPUT DACS.
TC Q TC Q
# FILTER PRECOMPUTATIONS FOR NEXT PASS................ # FILTER PRECOMPUTATIONS FOR NEXT PASS................
PRECOMP CAF ZERO # **** FIRST CASCADE FILTER ********** PRECOMP CAF ZERO # ***** FIRST CASCADE FILTER **********
TS TTMP1 TS TTMP1
TS TTMP2 TS TTMP2
@ -637,7 +639,7 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
DXCH TTMP1 DXCH TTMP1
DAS TMP2 DAS TMP2
2CASFLTR CAF ZERO # **** SECOND CASCADE FILTER ********** 2CASFLTR CAF ZERO # *****SECOND CASCADE FILTER*****
TS TTMP1 TS TTMP1
TS TTMP2 TS TTMP2
@ -674,7 +676,7 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
TS TMP4 TS TMP4
CA DAP1 +1 # MULTIPLY INPUT BY CA DAP1 +1 # MULTIPLY INPUT BY
EXTEND # SECOND-ORDER NUMERATOR COEFF. EXTEND
MP N10 +7 # N22 MP N10 +7 # N22
TS TTMP1 +1 TS TTMP1 +1
CA DAP1 CA DAP1
@ -694,13 +696,14 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
DXCH TTMP1 DXCH TTMP1
DAS TMP4 DAS TMP4
CAE DAPDATR1 # TEST FOR LEM ON OR OFF CAE DAPDATR1 # TEST FOR LEM ON OR OFF
MASK BIT13 MASK BIT13
CCS A CCS A
TC Q # EXIT IF LEM OFF TC Q # EXIT IF LEM OFF
# Page 976 # Page 976
3CASFLTR CAF ZERO # **** THIRD CASCADE FILTER ********** 3CASFLTR CAF ZERO # *****THIRD CASCADE FILTER*****
TS TTMP1 TS TTMP1
TS TTMP2 TS TTMP2
@ -763,6 +766,7 @@ PRECOMP CAF ZERO # **** FIRST CASCADE FILTER **********
# CONSTANTS FOR AUTOPILOTS # CONSTANTS FOR AUTOPILOTS
# NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41x16384/3600/360) # 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 # 1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
ACTSAT DEC 253 # ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV 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/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), 1-E(-AT) OCT 00243 # AT = .01SEC....EITHER(1/A=4SEC, T=40MS),
E(-AT) OCT 37535 # OR(1/A=8SEC, T=80MS) E(-AT) OCT 37535 # OR(1/A=8SEC, T=80MS)