* Proof FIXED_FIXED_CONSTANT_POOL (#207) * Proof AUTOMATIC_MANEUVERS (#194)
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@ -51,6 +51,7 @@ AHFNOROT EXTEND
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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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@ -81,27 +82,29 @@ FREECONT CAF ONE
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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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# 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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# IE *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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# 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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@ -144,6 +147,7 @@ ATTHOLD CA CDUX
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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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@ -182,8 +186,7 @@ ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
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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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# COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
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# APPROPRIATE DEADZONE.
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#
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# .
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@ -210,12 +213,15 @@ ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
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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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@ -435,7 +441,7 @@ J24 CS AERR
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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.,
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# COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
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#
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# T = J/M(DELTA W)
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# J
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@ -443,14 +449,14 @@ J24 CS AERR
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# DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
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# SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
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#
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# J/M = S/C INERTIA TO TORQUE RATIO SCALED BY
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# J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
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# (57.3/450)(B24/1600)(1/.8)
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# FOR 1 JET OPERATION (M = 700 FT-LB).
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# I.E., J/M = J(SLUG-FTFT) x 0.00000085601606
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# IE J/M = J(SLUG-FTFT) x 0.00000085601606
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#
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# THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
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# KEYBOARD ENTRY ARE
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# J/M (ROLL)
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# J/M (ROLL)
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# J/M1 (PITCH)
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# J/M2 (YAW)
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#
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@ -496,4 +502,3 @@ T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS)
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EBANK= KMPAC
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JETADDR 2CADR JETSLECT
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