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Merge pull request #756 from zpeters/649-TRIM_GIMBAL_CNTROL_SYSTEM

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Proof TRIM_GIMBAL_CNTROL_SYSTEM #649
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Chris Garry 2020-10-13 12:19:36 +09:00 committed by GitHub
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1 changed files with 40 additions and 45 deletions
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Luminary099/TRIM_GIMBAL_CNTROL_SYSTEM.agc → Luminary099/TRIM_GIMBAL_CONTROL_SYSTEM.agc
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@ -65,7 +65,7 @@ GTS CAF NEGONE # MAKE THE NEXT PASS THROUGH THE DAP BE
AD A # FOR THE RIGHT SHIFT DUE TO EDITING. AD A # FOR THE RIGHT SHIFT DUE TO EDITING.
TS SAVESR TS SAVESR
GTSGO+DN CAF TWO # SET INDEXER FOR R-AXIS CALCULATIONS. GTSGO+ON CAF TWO # SET INDEXER FOR R-AXIS CALCULATIONS.
TCF GOQTRIMG +1 TCF GOQTRIMG +1
GOQTRIMG CAF ZERO # SET INDEXER FOR Q-AXIS CALCULATIONS GOQTRIMG CAF ZERO # SET INDEXER FOR Q-AXIS CALCULATIONS
@ -133,7 +133,7 @@ ALGORTHM EXTEND # Q(R)DIFF IS THETA (ERROR) SCALED AT PI.
EXTEND EXTEND
# Page 1474 # Page 1474
DV KCENTRAL DV KCENTRAL
XCH A2CNTRAL +1 # QUOTIENT STORED AT 16*PI, D.P. XCH A2CNTRAL +1 # QUOTIENT STORED AT 16*PI , D.P.
TCF HAVEQUOT TCF HAVEQUOT
HUGEQUOT CA POSMAX HUGEQUOT CA POSMAX
@ -191,7 +191,7 @@ NEGFNCT2 EXTEND
FUNCT2 EXTEND FUNCT2 EXTEND
DCA A2CNTRAL DCA A2CNTRAL
DAS K2CNTRAL # DEL*OMEGA + ALPHA(2)/(2*K) AT 16*PI, D.P. DAS K2CNTRAL # DEL*OMEGA + ALPHA(2)/(2*K) AT 16*PI,D.P.
FUNCT3 CA A2CNTRAL FUNCT3 CA A2CNTRAL
EXTEND EXTEND
@ -300,38 +300,38 @@ ACDT+C12 CS NEGUQ
# #
# TIMEGMBL COMPUTES THE DRIVE TIME NEEDED FOR THE TRIM GIMBAL TO POSITION THE DESCENT ENGINE NOZZLE SO AS TO NULL # TIMEGMBL COMPUTES THE DRIVE TIME NEEDED FOR THE TRIM GIMBAL TO POSITION THE DESCENT ENGINE NOZZLE SO AS TO NULL
# THE OFFSET ANGULAR ACCELERATION ABOUT THE Q (OR R) AXIS. INSTEAD OF USING AOSQ(R), TIMEGMBL USES .4*AOSQ(R), # THE OFFSET ANGULAR ACCELERATION ABOUT THE Q (OR R) AXIS. INSTEAD OF USING AOSQ(R), TIMEGMBL USES .4*AOSQ(R),
# SCALED AT PI/8. FOR EACH AXIS, THE DRIVE TIME IS COMPUTED AS ABS(ALPHA/ACCDOT). A ZERO # SCALED AT PI/8. FOR EACH AXIS, THE DRIVE TIME IS COMPUTED AS ABS(ALPHA/ACCDOT). A ZERO
# ALPHA OR ACCDOT OR A ZERO QUOTIENT TURNS OFF THE GIMBAL DRIVE IMMEDIATELY. OTHERWISE, THE GIMBAL IS TURNED ON # ALPHA OR ACCDOT OR A ZERO QUOTIENT TURNS OFF THE GIMBAL DRIVE IMMEDIATELY. OTHERWISE, THE GIMBAL IS TURNED ON
# DRIVING IN THE CORRECT DIRECTION. THE Q(R)GIMTIMR IS SET TO TERMINATE THE DRIVE AND Q(R)ACCDOT # DRIVING IN THE CORRECT DIRECTION. THE Q(R)GIMTIMR IS SET TO TERMINATE THE DRIVE AND Q(R)ACCDOT
# IS STORED TO REFLECT THE NEW ACCELERATION DERIVATIVE. NEGUQ(R) WILL CONTAIN +1,+0,-1 FOR A Q(R)ACCDOT VALUE # IS STORED TO REFLECT THE NEW ACCELERATION DERIVATIVE. NEGUQ(R) WILL CONTAIN +1,+0,-1 FOR A Q(R)ACCDOT VALUE
# WHICH IS NEGATIVE, ZERO, OR POSITIVE. # WHICH IS NEGATIVE, ZERO, OR POSITIVE.
# #
# INPUTS: AOSQ,AOSR, SCALED AT P1/2, AND ACCDOTQ, ACCDOTR AT PI/2(7). PI/2(7). # INPUTS: AOSQ,AOSR, SCALED AT P1/2, AND ACCDOTQ, ACCDOTR AT PI/2(7). PI/2(7).
# #
# OUTPUTS: NEW GIMBAL DRIVE BITS IN CHANNEL 12, NEGUQ, NEGUR, QACCDOT, AND RACCDOT, THE LAST SCALED AT PI/2(7). # OUTPUTS: NEW GIMBAL DRIVE BITS IN CHANNEL 12,NEGUQ,NEGUR,QACCDOT AND RACCDOT, THE LAST SCALED AT PI/2(7).
# Q(R)GIMTIMR WILL BE SET TO TIME AND TERMINATE GIMBAL DRIVE(S). # Q(R)GIMTIMR WILL BE SET TO TIME AND TERMINATE GIMBAL DRIVE(S)
# #
# DEBRIS: A, L, Q, ITEMPS 2, 3, 6, AND RUPTREG2 AND ACDT+C12 DEBRIS. # DEBRIS: A,L,Q, ITEMPS 2,3,6, RUPTREG2 AND ACDT+C12 DEBRIS.
# #
# EXITS: VIA TC Q. # EXITS: VIA TC Q.
# #
# ALARMS, ABORTS: NONE. # ALARMS, ABORTS, : NONE
# #
# SUBROUTINES: ACDT+C12, IBNKCALL # SUBROUTINES: ACDT+C12, IBNKCALL
# #
# WARNING: THIS SUBROUTINE WRITES INTO CHANNEL 12 AND USES THE ITEMPS. THEREFORE IT MAY ONLY BE CALLED WITH # WARNING: THIS SUBROUTINE WRITES INTO CHANNEL 12 AND USES THE ITEMPS. THEREFORE IT MAY ONLY BE CALLED WITH
# INTERRUPT INHIBITED. # INTERRUPT INHIBITED.
# #
# ERASABLE STORAGE CONFIGURATION (NEEDED BY THE INDEXING METHODS): # ERASABLE STORAGE CONFIGURATION (NEEDED BY THE INDEXING METHODS):
# NEGUQ ERASE +2 # NEGATIVE OF Q-AXIS GIMBAL DRIVE # NEGUQ ERASE +2 # NEGATIVE OF Q-AXIS GIMBAL DRIVE
# (SPWORD) EQUALS NEGUQ +1 # ANY S.P. ERASABLE NUMBER, NOW THRSTCMD # (SPWORD) EQUALS NEGUQ +1 # ANY S.P. ERASABLE NUMBER, NOW THRSTCMD
# NEGUR EQUALS NEGUQ +2 # NEGATIVE OF R-AXIS GIMBAL DRIVE # NEGUR EQUALS NEGUQ +2 # NEGATIVE OF R-AXIS GIMBAL DRIVE
# ACCDOTQ ERASE +2 # Q-JERK TERM SCALED AT PI/2(7) RAD/SEC(3) # ACCDOTQ ERASE +2 # Q-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
# (SPWORD) EQUALS ACCDOTQ +1 # ANY S.P. ERASABLE NUMBER NOW QACCDOT # (SPWORD) EQUALS ACCDOTQ +1 # ANY S.P. ERASABLE NUMBER NOW QACCDOT
# ACCDOTR EQUALS ACCDOTQ +2 # R-JERK TERM SCALED AT PI/2(7) RAD/SEC(3) # ACCDOTR EQUALS ACCDOTQ +2 # R-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
# # ACCDOTQ, ACCDOTR ARE MAGNITUDES. # # ACCDOTQ, ACCDOTR ARE MAGNITUDES.
# AOSQ ERASE +4 # Q-AXIS ACC., D.P. AT PI/2 R/SEC(2) # AOSQ ERASE +4 # Q-AXIS ACC., D.P. AT PI/2 R/SEC(2)
# AOSR EQUALS AOSQ +2 # R-AXIS ACCELERATION SCALED AT PI/2 R/S2 # AOSR EQUALS AOSQ +2 # R-AXIS ACCELERATION SCALED AT PI/2 R/S2
QRNDXER EQUALS ITEMP6 QRNDXER EQUALS ITEMP6
OCT23146 OCTAL 23146 # DECIMAL .6 OCT23146 OCTAL 23146 # DECIMAL .6
@ -365,7 +365,7 @@ ALPHATRY INDEX QRNDXER
TS L # WAS THERE OVERFLOW? TS L # WAS THERE OVERFLOW?
TCF SETNEGU # NO. COMPUTE DRIVE TIME. TCF SETNEGU # NO. COMPUTE DRIVE TIME.
CS A # RECOVER -SGN(AOS) IN THE A REGISTER. CS A # RECOVER -SGN(AOS) IN THE A REGISTER.
INDEX QRNDXER # YES. START DRIVE WITHOUT WAITLIST. INDEX QRNDXER # YES. START DRIVE WITHOUT WAITLIST.
XCH NEGUQ XCH NEGUQ
TCF NOTALLOW # KNOCK DOWN THE ALLOWGTS FLAG. TCF NOTALLOW # KNOCK DOWN THE ALLOWGTS FLAG.
@ -374,10 +374,10 @@ SETNEGU EXTEND
BZMF POSALPH BZMF POSALPH
COM COM
TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8. TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8.
CS BIT1 CS BIT1
TCF POSALPH +2 TCF POSALPH +2
POSALPH TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8. POSALPH TS ITEMP2 # STORE -ABS(.4*AOS) SCALED AT PI/8.
CA BIT1 CA BIT1
+2 INDEX QRNDXER # SGN(AOS) INTO NEGU +2 INDEX QRNDXER # SGN(AOS) INTO NEGU
TS NEGUQ # STORE SGN(ALPHA) AS NEGU TS NEGUQ # STORE SGN(ALPHA) AS NEGU
@ -440,8 +440,8 @@ OCT00240 OCTAL 00240 # DECIMAL 10/1024
# SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF THE ARGUMENT. ALSO, THE CELL SHFTFLAG CONTAINS A BINARY # SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF THE ARGUMENT. ALSO, THE CELL SHFTFLAG CONTAINS A BINARY
# EXPONENT S, SUCH THAT THE SQUARE ROOT (RETURNED IN THE A REGISTER) MUST BE SHIFTED RIGHT (MULTIPLIED BY 2 TO THE # EXPONENT S, SUCH THAT THE SQUARE ROOT (RETURNED IN THE A REGISTER) MUST BE SHIFTED RIGHT (MULTIPLIED BY 2 TO THE
# POWER (-S)) IN ORDER TO BE THE TRUE SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF FUNCTION, FUNCTION +1. # POWER (-S)) IN ORDER TO BE THE TRUE SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF FUNCTION, FUNCTION +1.
# SQUARE ROOT ERROR IS NOT MORE THAN 2 IN THE 14TH SIGNIFICANT BIT. CELLS CLOBBERED ARE A, L, SHFTFLAG, ININDEX, # SQUARE ROOT ERROR IS NOT MORE THAN 2 IN THE 14TH SIGNIFICANT BIT. CELLS CLOBBERED ARE A,L,SHFTFLAG.ININDEX,
# HALFARG, SCRATCH, SR, FUNCTION, FUNCTION +1. GTSQRT IS CALLED BY TC GTSQRT AND RETURNS VIA TC Q OR TC FUNCTION +1. # HALFARG,SCRATCH,SR,FUNCTION, FUNCTION +1. GTSQRT IS CALLED BY TC GTSQRT AND RETURNS VIA TC Q OR TC FUNCTION +1.
# ZERO OR NEGATIVE ARGUMENTS YIELD ZERO FOR SQUARE ROOTS. # ZERO OR NEGATIVE ARGUMENTS YIELD ZERO FOR SQUARE ROOTS.
GTSQRT CCS FUNCTION GTSQRT CCS FUNCTION
@ -506,7 +506,6 @@ SCALDONE EXTEND
TC ROOTCYCL TC ROOTCYCL
TC ROOTCYCL TC ROOTCYCL
TC FUNCTION +1 TC FUNCTION +1
# *************************************************************************** # ***************************************************************************
RSTOFGTS TC GTSQRT RSTOFGTS TC GTSQRT
@ -514,12 +513,12 @@ PRODUCT XCH K2CNTRAL
EXTEND EXTEND
MP K2CNTRAL MP K2CNTRAL
DXCH K2CNTRAL DXCH K2CNTRAL
EXTEND # THE PRODUCT OF EXTEND # THE PRODUCT OF
MP L # 1/2 2 1/2 MP L # 1/2 2 1/2
ADS K2CNTRAL +1 # K *(DEL*OMEGA + ALPHA /(2*K)) ADS K2CNTRAL +1 # K *(DEL*OMEGA + ALPHA /(2*K))
TS L # AND TS L # AND
TCF +2 # 2 TCF +2 # 2
ADS K2CNTRAL # DEL*(DEL*OMEGA + ALPHA /(2*K)) NOW IN ADS K2CNTRAL # DEL*(DEL*OMEGA + ALPHA /(2*K)) NOW IN
# K2CNTRAL # K2CNTRAL
DOSHIFT CA ININDEX DOSHIFT CA ININDEX
@ -538,22 +537,22 @@ DOSHIFT CA ININDEX
XCH K2CNTRAL XCH K2CNTRAL
EXTEND EXTEND
MP K2CNTRAL +1 MP K2CNTRAL +1
ADS K2THETA +1 ADS K2THETA +1
TS L TS L
TCF +2 TCF +2
ADS K2THETA ADS K2THETA
TCF NEGUSUM TCF NEGUSUM
ADDITIN EXTEND ADDITIN EXTEND
DCA K2CNTRAL DCA K2CNTRAL
DAS K2THETA # NO ADD IN THE K2THETA TERM. DAS K2THETA # NOW ADD IN THE K2THETA TERM.
NEGUSUM CCS K2THETA # TEST SIGN OF HIGH ORDER PART. NEGUSUM CCS K2THETA # TEST SIGN OF HIGH ORDER PART.
TCF NEGDRIVE TCF NEGDRIVE
TCF +2 TCF +2
TCF POSDRIVE TCF POSDRIVE
CCS K2THETA +1 # SIGN TEST FOR LOW ORDER PART. CCS K2THETA +1 # SIGN TEST FOR LOW ORDER PART.
NEGDRIVE CA BIT1 NEGDRIVE CA BIT1
TCF +2 # STOP GIMBAL DRIVE FOR A ZERO NEGUSUM. TCF +2 # STOP GIMBAL DRIVE FOR A ZERO NEGUSUM.
POSDRIVE CS BIT1 POSDRIVE CS BIT1
@ -598,16 +597,14 @@ CLOSEADR 2CADR CLOSEOUT # TERMINATE THE JASK.
TWELVE EQUALS OCT14 TWELVE EQUALS OCT14
ROOTHALF OCTAL 26501 # SQUARE ROOT OF 1/2 ROOTHALF OCTAL 26501 # SQUARE ROOT OF 1/2
GMBLBITA OCTAL 01400 # INDEXED WRT GMBLBITB DO NOT MOVE ******* GMBLBITA OCTAL 01400 # INDEXED WRT GMBLBITB DO NOT MOVE *******
OCT11276 OCTAL 11276 # POSMAX -- ROOTHALF OCT11276 OCTAL 11276 # POSMAX - ROOTHALF
GMBLBITB OCTAL 06000 # INDEXED WRT GMBLBITA DO NOT MOVE ******* GMBLBITB OCTAL 06000 # INDEXED WRT GMBLBITA DO NOT MOVE *******
# SUBROUTINE ROOTCYCL: BY CRAIG WORK, 3 APRIL 68 # SUBROUTINE ROOTCYCL: BY CRAIG WORK, 3 APRIL 68
# # ROOTCYCL IS A SUBROUTINE WHICH EXECUTES ONE NEWTON SQUARE ROOT ALGORITHM ITERATION. THE INITIAL GUESS AT THE
# ROOTCYCL IS A SUBROUTINE WHICH EXECUTES ONE NEWTON SQUARE ALGORITHM ITERATION. THE INITIAL GUESS AT THE # SQUARE ROOT IS PRESUMED TO BE IN THE A REGISTER AND ONE-HALF THE SQUARE IS TAKEN FROM HALFARG. THE NEW APPROXI-
# SQUARE ROOT IS PRESUMED TO BE IN THE A REGISTER AND ONE-HALF THE SQUARE IS TAKEN FROM HALFARG. THE NEW APPROXIMATION # MATION TO THE SQUARE ROOT IS RETURNED IN THE A REGISTER. DEBRIS: A,L,SR,SCRATCH. ROOTCYCL IS CALLED FROM
# TO THE SQUARE ROOT IS RETURNED IN THE A REGISTER. DEBRIS: A, L, SR, SCRATCH. ROOTCYCL IS CALLED FROM
# LOCATION (LOC) BY A TC ROOTCYCL, AND RETURNS (TC Q) TO LOC +1. # LOCATION (LOC) BY A TC ROOTCYCL, AND RETURNS (TC Q) TO LOC +1.
#
# WARNING: IF THE INITIAL GUESS IS NOT GREATER THAN THE SQUARE, DIVIDE OR ADD OVERFLOW IS A REAL POSSIBILITY. # WARNING: IF THE INITIAL GUESS IS NOT GREATER THAN THE SQUARE, DIVIDE OR ADD OVERFLOW IS A REAL POSSIBILITY.
ROOTCYCL TS SCRATCH # STORE X ROOTCYCL TS SCRATCH # STORE X
@ -618,5 +615,3 @@ ROOTCYCL TS SCRATCH # STORE X
DV SCRATCH # (ARG/X)/2 DV SCRATCH # (ARG/X)/2
AD SR # (X + ARG/X)/2 IN THE A REG AD SR # (X + ARG/X)/2 IN THE A REG
TC Q TC Q