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Proof AUTOMATIC_MANEUVERS (#194) (#335)

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* Proof FIXED_FIXED_CONSTANT_POOL (#207)

* Proof AUTOMATIC_MANEUVERS (#194)
This commit is contained in:
Glenn Dwiyatcita 2018-05-25 21:30:28 +02:00 committed by James Harris
parent ffcfaf5d51
commit eaec0f796b
1 changed files with 19 additions and 14 deletions
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33
Comanche055/AUTOMATIC_MANEUVERS.agc
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@ -51,6 +51,7 @@ AHFNOROT EXTEND
EXTEND EXTEND
BZMF HOLDFUNC BZMF HOLDFUNC
AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG. AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG.
EXTEND # OTHERWISE, GO TO ATTHOLD. EXTEND # OTHERWISE, GO TO ATTHOLD.
BZMF ATTHOLD BZMF ATTHOLD
@ -81,27 +82,29 @@ FREECONT CAF ONE
TS TAU2 TS TAU2
TCF T6PROGM TCF T6PROGM
MINTAU DEC 0 MINTAU DEC 0
DEC 23 # = 14MS DEC 23 # = 14MS
DEC -23 # = -14MS DEC -23 # = -14MS
DEC 0 DEC 0
# Page 1027 # Page 1027
# CALCULATION OF ATTITUDE ERRORS: # CALCULATION OF ATTITUDE ERRORS-
# _ * _ _ _ # - * - - -
# AK = AMGB (CDUX - THETADX) + BIAS # AK = AMGB (CDUX - THETADX) + BIAS
# #
# I.E., *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS * # IE *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS *
# * * * ** * * * # * * * ** * * *
# *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1* # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1*
# * * * ** * * * # * * * ** * * *
# *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2* # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2*
# #
# THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
# AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES. # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
# BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
# FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO. # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
ATTHOLD CA CDUX ATTHOLD CA CDUX
EXTEND EXTEND
MSU THETADX MSU THETADX
@ -144,6 +147,7 @@ ATTHOLD CA CDUX
ADS ERRORZ ADS ERRORZ
TCF JETS TCF JETS
HOLDFUNC CCS HOLDFLAG HOLDFUNC CCS HOLDFLAG
TCF +3 TCF +3
TCF ATTHOLD TCF ATTHOLD
@ -182,8 +186,7 @@ ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
# #
# DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
# PLANE. # PLANE.
# # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
# COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE S/C INTO THE
# APPROPRIATE DEADZONE. # APPROPRIATE DEADZONE.
# #
# . # .
@ -210,12 +213,15 @@ ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
# * . * # * . *
# *. - * # *. - *
# . - ***************** # . - *****************
# .*- # .* -
# . * -------------------------------- # . * --------------------------------
# . *
# . ********************************
# . # .
# .
# FIG. 1 PHASE PLANE SWITCHING LOGIC # FIG. 1 PHASE PLANE SWITCHING LOGIC
#
# CONSTANTS FOR JET SWITCHING LOGIC # CONSTANTS FOR JET SWITCHING LOGIC
WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180 WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180
@ -435,7 +441,7 @@ J24 CS AERR
DAS KMPAC DAS KMPAC
# Page 1035 # Page 1035
# COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, I.E., # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
# #
# T = J/M(DELTA W) # T = J/M(DELTA W)
# J # J
@ -443,14 +449,14 @@ J24 CS AERR
# DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
# SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC. # SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
# #
# J/M = S/C INERTIA TO TORQUE RATIO SCALED BY # J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
# (57.3/450)(B24/1600)(1/.8) # (57.3/450)(B24/1600)(1/.8)
# FOR 1 JET OPERATION (M = 700 FT-LB). # FOR 1 JET OPERATION (M = 700 FT-LB).
# I.E., J/M = J(SLUG-FTFT) x 0.00000085601606 # IE J/M = J(SLUG-FTFT) x 0.00000085601606
# #
# THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
# KEYBOARD ENTRY ARE # KEYBOARD ENTRY ARE
# J/M (ROLL) # J/M (ROLL)
# J/M1 (PITCH) # J/M1 (PITCH)
# J/M2 (YAW) # J/M2 (YAW)
# #
@ -496,4 +502,3 @@ T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS)
EBANK= KMPAC EBANK= KMPAC
JETADDR 2CADR JETSLECT JETADDR 2CADR JETSLECT