Update TJET_LAW.agc
Dhivya S
parent
343e5bcde5
commit
27375f5b48
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@ -45,7 +45,7 @@
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#
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# THE SIGN OF THE REQUIRED ROTATION IS CARRIED THROUGH TJETLAW AS ROTSENSE AND IS FINALLY APPLIED TO TJET JUST
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# PREVIOUS TO ITS STORAGE IN THE LOCATION CORRESPONDING TO THE AXIS (TJP, TJU, OR TJV). THE NUMBER OF JETS THAT
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# TJETLAW ASSUMES WILL BE USED AS INDICATED BY THE SETTING OF NUMBERT FOR THE U- OR V-AXIS. TWO JETS ARE ALWAYS
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# TJETLAW ASSUMES WILL BE USED IS INDICATED BY THE SETTING OF NUMBERT FOR THE U- OR V-AXIS. TWO JETS ARE ALWAYS
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# ASSUMED FOR THE P-AXIS ALTHOUGH FOUR JETS WILL BE FIRED WHEN FIREFCT IS MORE NEGATIVE THAN -4.0 DEGREES
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# (FIREFCT IS THE DISTANCE TO A SWITCH CURVE IN THE PHASE PLANE) AND A LONG FIRING IS CALLED FOR.
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#
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@ -70,7 +70,7 @@
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# TJP, -U OR -V, NUMBERT (DAPTEMP5), FIREFCT (DAPTEMP3).
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#
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# DEBRIS:
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# A, L, Q, E, EDOT, DAPTEMP1-6, DAPTEMP1-4.
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# A, L, Q, E, EDOT, DAPTEMP1-6, DAPTRBG-4.
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#
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# ALARM: NONE
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@ -86,49 +86,49 @@ TJETLAW EXTEND # SAVE Q FOR RETURN.
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# SET INDEXERS TO CORRESPOND TO THE AXIS AND TO THE SIGN OF EDOT
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INDEX AXISCTR # AXISDIFF(-1)=NO OF LOCATIONS BET P AND U
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CAF AXISDIFF # AXISDIFF(0)=0
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TS ADRSDIF1 # AXISDIFF(+1)=NO OF LOCATIONS BET V AND U
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INDEX AXISCTR # AXISDIFF(-1)=NO OF LOCATIONS BET P AND U
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CAF AXISDIFF # AXISDIFF(0)=0
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TS ADRSDIF1 # AXISDIFF(+1)=NO OF LOCATIONS BET V AND U
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CAE EDOT # IF EDOT NEGATIVE, PICK UP SET OF VALUES
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EXTEND # THAT ALLOW USE OF SAME CODING AS FOR
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BZMF NEGEDOT # POSITIVE EDOT.
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CAE ADRSDIF1 # SET A SECOND INDEXER WHICH MAY BE
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TS ADRSDIF2 # MODIFIED BY A DECISION FOR MAX JETS.
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CAF SENSOR # FOR POSITIVE EDOT, ROTSENSE IS
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TCF SETSENSE # INITIALIZED POSITIVE.
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CAE EDOT # IF EDOT NEGATIVE, PICK UP SET OF VALUES
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EXTEND # THAT ALLOW USE OF SAME CODING AS FOR
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BZMF NEGEDOT # POSITIVE EDOT.
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CAE ADRSDIF1 # SET A SECOND INDEXER WHICH MAY BE
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TS ADRSDIF2 # MODIFIED BY A DECISION FOR MAX JETS.
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CAF SENSOR # FOR POSITIVE EDOT, ROTSENSE IS
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TCF SETSENSE # INITIALIZED POSITIVE.
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NEGEDOT CS E # IN ORDER FOR NEG EDOT CASE TO USE CODING
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TS E # OF POS EDOT, MUST MODIFY AS FOLLOWS:
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CS EDOT # 1. COMPLEMENT E AND EDOT.
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TS EDOT # 2. SET SENSE OF ROTATION TO NEGATIVE
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CAF BIT1 # (REVERSED LATER IF NECESSARY).
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ADS ADRSDIF1 # 3. INCREMENT INDEXERS BY ONE SO THAT
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TS ADRSDIF2 # THE PROPER PARAMETERS ARE ACCESSED.
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CS SENSOR
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SETSENSE TS ROTSENSE
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NEGEDOT CS E # IN ORDER FOR NEG EDOT CASE TO USE CODING
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TS E # OF POS EDOT, MUST MODIFY AS FOLLOWS:
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CS EDOT # 1. COMPLEMENT E AND EDOT.
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TS EDOT # 2. SET SENSE OF ROTATION TO NEGATIVE
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CAF BIT1 # (REVERSED LATER IF NECESSARY).
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ADS ADRSDIF1 # 3. INCREMENT INDEXERS BY ONE SO THAT
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TS ADRSDIF2 # THE PROPER PARAMETERS ARE ACCESSED.
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CS SENSOR
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SETSENSE TS ROTSENSE
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# TEST MAGNITUDE OF E (ATTITUDE ERROR, SINGLE-PRECISION, SCALED AT PI RADIANS):
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# IF GREATER THAN (OR EQUAL TO) PI/16 RADIANS, GO TO THE SIMPLIFIED TJET ROUTINE.
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# IF LESS THAN PI/16 RADIANS, RESCALE TO PI/4
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# IF LESS THAN PI/16 RADIANS, RESCALE TO PI/4.
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CAE E # PICK UP ATTITUDE ERROR FOR THIS AXIS
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CAE E # PICK UP ATTITUDE ERROR FOR THIS AXIS
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EXTEND
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MP BIT5 # SHIFT RIGHT TEN BITS: IF A-REGISTER IS
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CCS A # ZERO, RESCALE AND TEST EDOT.
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TCF RUFLAW2
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TCF SCALEE
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TCF RUFLAW1
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SCALEE CAF BIT13 # ERROR IS IN L SCALED AT PI/16. RESCALE
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EXTEND # IT TO PI/4 AND SAVE IT.
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MP L
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TS E
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MP BIT5 # SHIFT RIGHT TEN BITS: IF A-REGISTER IS
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CCS A # ZERO, RESCALE AND TEST EDOT.
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TCF RUFLAW2
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TCF SCALEE
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TCF RUFLAW1
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SCALEE CAF BIT13 # ERROR IS IN L SCALED AT PI/16. RESCALE
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EXTEND # IT TO PI/4 AND SAVE IT.
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MP L
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TS E
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# TEST MAGNITUDE OF EDOT (ERROR RATE SCALED AT PI/4 RADIANS/SECOND)
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# IF GREATER THAN (OR EQUAL TO) PI/32 RADIANS/SECOND, GO TO THE SIMPLIFIED TJET ROUTINE.
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# IF LESS THAN PI/32 RADIANS/SECOND, THEN RESCALE TO PI/32 RADIANS/SECOND.
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CAE EDOT # PICK UP SINGLE-PRECISION ERROR-RATE
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CAE EDOT # PICK UP SINGLE-PRECISION ERROR-RATE
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# Page 1462
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EXTEND # FOR THIS AXIS=
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MP BIT4 # SHIFT RIGHT ELEVEN BITS, IF THE A-REG IS
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@ -138,13 +138,13 @@ SCALEE CAF BIT13 # ERROR IS IN L SCALED AT PI/16. RESCALE
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# *** FINELAW STARTS HERE ***
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SCALEDOT LXCH EDOT # EDOT IS SCALED AT PI/32 RADIANS/SECOND.
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SCALEDOT LXCH EDOT # EDOT IS SCALED AT PI/32 RADIANS/SECOND.
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CAE EDOT # COMPUTE (EDOT)(EDOT)
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EXTEND
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SQUARE # PRODUCT SCALED AT PI(2)/2(10) RAD/SEC.
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EXTEND
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MP BIT13 # SHIFT RIGHT TWO BITS TO RESCALE TO EDOTSQ
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MP BIT13 # SHIFT RIGHT TWO BITS TO RESCALE EDOTSQ
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TS EDOTSQ # TO PI(2)/2(8) RAD(2)/SEC(2).
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ERRTEST CCS E # DOES BIG ERROR (THREE DEG BEYOND THE
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@ -152,107 +152,107 @@ ERRTEST CCS E # DOES BIG ERROR (THREE DEG BEYOND THE
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TCF +2
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AD -3DEG
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EXTEND
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INDEX ADRSDIF1
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SU FIREDB
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INDEX ADRSDIF1
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SU FIREDB
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EXTEND
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BZMF SENSTEST # IF NOT: ARE UNBALANCED JETS PREFERRED?
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MAXJETS CAF TWO # IF YES: INCREMENT ADDRESS LOCATOR AND
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BZMF SENSTEST # IF NOT: ARE UNBALANCED JETS PREFERRED?
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MAXJETS CAF TWO # IF YES: INCREMENT ADDRESS LOCATOR AND
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ADS ADRSDIF2 # SET SWITCH FOR JET SELECT LOGIC TO 4.
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CAF FOUR # (ALWAYS DO THIS FOR P-AXIS)
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TCF TJCALC
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SENSTEST CCS SENSETYP # DOES TRANSLATION PREFER MIN JETS.
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SENSTEST CCS SENSETYP # DOES TRANSLATION PREFER MIN JETS.
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TCF TJCALC # YES. USE MIN-JET PARAMETERS
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TCF MAXJETS # NO. GET THE MAX-JET PARAMETERS.
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TJCALC TS NUMBERT # SET TO +0,1,4 FOR (U,V-AXES) JET SELECT.
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TJCALC TS NUMBERT # SET TO +0,1,4 FOR (U,V-AXES) JET SELECT.
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# BEGINNING OF TJET CALCULATIONS:
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CS EDOTSQ # SCALED AT PI(2)/2(8).
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CS EDOTSQ # SCALED AT PI(2)/2(8).
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EXTEND
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INDEX ADRSDIF2
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INDEX ADRSDIF2
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MP 1/ANET1 # .5/ACC SCALED AT 2(6)/PI SEC(2)/RADIAN.
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INDEX ADRSDIF1
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AD FIREDB # DEADBAND SCALED AT PI/4 RADIAN.
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INDEX ADRSDIF1
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AD FIREDB # DEADBAND SCALED AT PI/4 RADIAN.
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EXTEND
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SU E # ATTITUDE ERROR SCALED AT PI/4 RADIAN.
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TS FIREFCT # -E-.5(EDOTSQ)/ACC-DB AT PI/4 RADIAN.
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SU E # ATTITUDE ERROR SCALED AT PI/4 RADIAN.
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TS FIREFCT # -E-.5(EDOTSQ)/ACC-DB AT PI/4 RADIAN.
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EXTEND
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BZMF ZON1,2,3
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BZMF ZON1,2,3
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ZONE4,5 INDEX ADRSDIF1
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ZONE4,5 INDEX ADRSDIF1
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CAE 1/ACOAST # .5/ACC SCALED AT 2(6)/PI WHERE
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# Page 1463
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EXTEND # ACC = MAX(AMIN, AOS-).
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MP EDOTSQ # SCALED AT PI/2(8).
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AD E # SCALED AT PI/4
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INDEX ADRSDIF1
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AD COASTDB # SCALED AT PI/4 POS. FOR NEG. INTERCEPT.
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AD E # SCALED AT PI/4
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INDEX ADRSDIF1
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AD COASTDB # SCALED AT PI/4 POS. FOR NEG. INTERCEPT.
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EXTEND # TEST E+.5(EDOTSQ)/ACC+DB AT PI/4 RADIAN.
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BZMF ZONE5 # IF FUNCTION NEGATIVE, FIND TJET.
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# IF FUNCTION POSITIVE, IN ZONE 4.
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BZMF ZONE5 # IF FUNCTION NEGATIVE, FIND TJET.
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# IF FUNCTION POSITIVE, IN ZONE 4.
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# ZONE 4 IS THE COAST REGION. HOWEVER, IF THE JETS ARE ON AND DRIVING TOWARD
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# A. THE AXIS WITHIN + OR - (DB + FLAT) FOR DRIFTING FLIGHT, OR
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# B. THE USUAL TARGET PARABOLA FOR POWERED FLIGHT
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# THEN THE THRUSTERS ARE KEPT ON.
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ZONE4 INDEX AXISCTR # IS THE CURRENT VALUE IN TJET NON-ZERO
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ZONE4 INDEX AXISCTR # IS THE CURRENT VALUE IN TJET NON-ZERO
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CS TJETU # WITH SENSE OPPOSITE TO EDOT,
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EXTEND # (I.E., ARE JETS ON AND FIRING TOWARD
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MP ROTSENSE # THE DESIRABLE STATE).
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EXTEND
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BZMF COASTTJ # NO. COAST.
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BZMF COASTTJ # NO. COAST.
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JETSON CCS FLAT # YES. IS THIS DRIFTING OR POWERED FLIGHT?
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TCF DRIFT/ON # DRIFTING. GO MAKE FURTHER TEST.
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CS FIREFCT # POWERED (OR ULLAGE). CAN TARGET PARABOLA
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INDEX ADRSDIF1 # BE REACHED FROM THIS POINT IN THE
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INDEX ADRSDIF1 # BE REACHED FROM THIS POINT IN THE
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AD AXISDIST # PHASE PLANE?
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EXTEND
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BZMF COASTTJ # NO. SET TJET = 0.
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BZMF COASTTJ # NO. SET TJET = 0.
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TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 1
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CAE FIREFCT # AFTER COMPUTING THE REQUIRED
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TCF ZONE1 # PARAMETERS.
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DRIFT/ON INDEX ADRSDIF1 # CAN TARGET STRIP OF AXIS BE REACHED FROM
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DRIFT/ON INDEX ADRSDIF1 # CAN TARGET STRIP OF AXIS BE REACHED FROM
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CS FIREDB # THIS POINT IN THE PHASE PLANE?
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DOUBLE
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AD FIREFCT
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EXTEND
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BZMF +3
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COASTTJ CAF ZERO # NO. SET TJET = 0.
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BZMF +3
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COASTTJ CAF ZERO # NO. SET TJET = 0.
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TCF RETURNTJ
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TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 2
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TCF ZONE2,3 # OR 3 AFTER COMPUTING REQUIRED VALUES.
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ZONE5 TS L # TEMPORARILY STORE FUNCTION IN L.
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ZONE5 TS L # TEMPORARILY STORE FUNCTION IN L.
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CCS ROTSENSE # MODIFY ADRSDIF2 FOR ACCESSING 1/ANET2
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TCF +4 # AND ACCFCTZ5, WHICH MUST BE PICKED UP
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TC CCSHOLE # FROM THE NEXT LOWER REGISTER IF THE
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CS TWO # (ACTUAL) ERROR RATE IS NEGATIVE.
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TCF +4 # AND ACCFCTZ5, WHICH MUST BE PICKED UP
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TC CCSHOLE # FROM THE NEXT LOWER REGISTER IF THE
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CS TWO # (ACTUAL) ERROR RATE IS NEGATIVE.
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# Page 1464
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ADS ADRSDIF2
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+4 CAE L
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EXTEND
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INDEX ADRSDIF2 # TTOAXIS AND HH ARE THE PARAMETERS UPON
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MP ACCFCTZ5 # WHICH THE APPROXIMATIONS TO TJET ARE
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DDOUBL # ABASED.
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INDEX ADRSDIF2 # TTOAXIS AND HH ARE THE PARAMETERS UPON
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MP ACCFCTZ5 # WHICH THE APPROXIMATIONS TO TJET ARE
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DDOUBL # BASED.
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DDOUBL
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DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
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INDEX ADRSDIF2
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CAE 1/ANET2 # SCALED AT 2(7)/PI SEC(2)/RAD.
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DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
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INDEX ADRSDIF2
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CAE 1/ANET2 # SCALED AT 2(7)/PI SEC(2)/RAD.
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EXTEND
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MP EDOT # SCALED AT PI/2(5)
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TS TTOAXIS # SCALED AT 4 SEC.
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MP EDOT # SCALED AT PI/2(5)
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TS TTOAXIS # SCALED AT 4 SEC.
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# TEST WHETHER TJET GREATER THAN 50 MSEC.
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EXTEND
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MP -.05AT2 # H - .05 TTOAXIS - .00125 G.T. ZERO
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AD HH # (SCALED AT 8 SEC(2) ).
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AD HH # (SCALED AT 8 SEC(2) ).
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AD NEG2
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EXTEND
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BZMF FORMULA1
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@ -262,55 +262,55 @@ ZONE5 TS L # TEMPORARILY STORE FUNCTION IN L.
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CAE TTOAXIS
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EXTEND
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MP -.15AT2 # H - .15 TTOAXIS - .01125 G.T. ZERO
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AD HH # (SCALED AT 8 SEC(2) )
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AD HH # (SCALED AT 8 SEC(2) )
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AD -.0112A8
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EXTEND
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BZMF FORMULA2
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BZMF FORMULA2
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# IF TJET GREATER THAN 150 MSEC, ASSIGN IT VALUE OF 250 MSEC, SINCE THIS
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# IS ENOUGH TO ASSURE NO SKIP NEXT CSP (100 MSEC).
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FULLTIME CAF BIT11 # 250 MSEC SCALED AT 4 SEC.
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FULLTIME CAF BIT11 # 250 MSEC SCALED AT 4 SEC.
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# RETURN TO CALLING PROGRAM WITH JET TIME SCALED AS TIME6 AND SIGNED.
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RETURNTJ EXTEND # ALL BRANCHES TERMINATE HERE WITH TJET
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RETURNTJ EXTEND # ALL BRANCHES TERMINATE HERE WITH TJET
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MP ROTSENSE # (SCALED AT 4 SEC) IN THE ACCUMULATOR.
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INDEX AXISCTR # ROTSENSE APPLIES SIGN AND CHANGES SCALE.
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INDEX AXISCTR # ROTSENSE APPLIES SIGN AND CHANGES SCALE.
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TS TJETU
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EXTEND
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INDEX AXISCTR
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INDEX AXISCTR
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MP ACCSWU # SET SWITCH FOR JET SELECT IF ROTATION IS
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CAE L
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EXTEND # IN A SENSE FOR WHICH 1/ACCS HAS FORCED
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BZMF +3 # A MAX-JET CALCULATION.
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BZMF +3 # A MAX-JET CALCULATION.
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CAF FOUR
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# Page 1465
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TS NUMBERT
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TC HOLDQ # RETURN VIA SAVED Q.
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TC HOLDQ # RETURN VIA SAVED Q.
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# TJET = H/(.025 + TTOAXIS) FOR TJET LESS THAN 50 MSEC.
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FORMULA1 CS -.025AT4 # .025 SEC SCALED AT 4.
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FORMULA1 CS -.025AT4 # .025 SEC SCALED AT 4.
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AD TTOAXIS # SCALED AT 4 SECONDS.
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DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
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DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
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EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP
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DV HH # DP H AND DIVIDE BY DENOMINATOR.
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DV HH # DP H AND DIVIDE BY DENOMINATOR.
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EXTEND
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MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC.
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TCF CHKMINTJ # CHECK THAT TJET IS NOT LESS THAN MINIMUM
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# TJET = (H + .00375)/(0.1 + TTOAXIS) FOR TJET GREATER THAN 50 MSEC.
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FORMULA2 EXTEND
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FORMULA2 EXTEND
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DCA .00375A8 # .00375 SEC(2) SCALED AT 8.
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DAS HH # STORE NUMERATOR IN DP H, WHICH NEED NOT
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# BE PRESERVED.
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DAS HH # STORE NUMERATOR IN DP H, WHICH NEED NOT
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# BE PRESERVED.
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CAE TTOAXIS # SCALED AT 4 SEC.
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AD .1AT4 # 0.1 SEC SCALED AT 4.
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DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
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DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H,
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EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP
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DV HH # DP NUMERATOR AND DIVIDE BY DENOMINATOR
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DV HH # DP NUMERATOR AND DIVIDE BY DENOMINATOR
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EXTEND
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MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC.
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TCF RETURNTJ # END SUBROUTINE.
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@ -318,20 +318,20 @@ FORMULA2 EXTEND
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# SUBROUTINIZED COMPUTATIONS REQUIRED FOR ALL ENTRIES INTO CODING FOR ZONES 1, 2, AND 3.
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# REACHED BY TC FROM 3 POINTS IN TJETLAW.
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Z123COMP CS ROTSENSE # USED IN RETURNTJ SECTION TO RESCALE TJET
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Z123COMP CS ROTSENSE # USED IN RETURNTJ SECTION TO RESCALE TJET
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TS ROTSENSE # AS TIME6 AND GIVE IT PROPER SIGN.
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CAE EDOT # SCALED AT PI/2(5) RAD/SEC.
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EXTEND
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INDEX ADRSDIF2
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INDEX ADRSDIF2
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MP 1/ANET1 # SCALED AT 2(7)/PI SEC(2)/RAD.
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TS TTOAXIS # STORE TIME-TO-AXIS SCALED AT 4 SECONDS.
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AD -TJMAX
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EXTEND # IS TIME TO AXIS LESS THAN 150 MSEC.
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BZMF +2
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BZMF +2
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TCF FULLTIME # NO. FIRE JETS, DO NOT CALCULATE TJET.
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RETURN # YES. GO ON TO FIND TJET
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ZON1,2,3 TC Z123COMP # SUBROUTINIZED PREPARATION FOR ZONE1,2,3.
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ZON1,2,3 TC Z123COMP # SUBROUTINIZED PREPARATION FOR ZONE1,2,3.
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# IF THE (NEG) DISTANCE BEYOND PARABOLA IS LESS THAN FLAT, USE SPECIAL
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# LOGIC TO ACQUIRE MINIMUM IMPULSE LIMIT CYCLE. DURING POWERED FLIGHT
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@ -341,31 +341,31 @@ ZON1,2,3 TC Z123COMP # SUBROUTINIZED PREPARATION FOR ZONE1,2,3.
|
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CAE FIREFCT # SCALED AT PI/4 RAD.
|
||||
AD FLAT
|
||||
EXTEND
|
||||
BZMF ZONE1 # NOT IN SPECIAL ZONES.
|
||||
BZMF ZONE1 # NOT IN SPECIAL ZONES.
|
||||
|
||||
# FIRE FOR AXIS OR, IF CLOSE, FIRE MINIMUM IMPULSE. IF ON AXIS, COAST.
|
||||
|
||||
ZONE2,3 CS ZONE3LIM # HEIGHT OF MIN-IMPULSE ZONE SET BY 1/ACCS
|
||||
ZONE2,3 CS ZONE3LIM # HEIGHT OF MIN-IMPULSE ZONE SET BY 1/ACCS
|
||||
AD TTOAXIS # 35 MSEC IN DRIFTING FLIGHT
|
||||
EXTEND # ZERO WHEN TRYING TO ENTER GTS CONTROL.
|
||||
BZMF ZONE3
|
||||
ZONE2 CAE TTOAXIS # FIRE TO AXIS.
|
||||
BZMF ZONE3
|
||||
ZONE2 CAE TTOAXIS # FIRE TO AXIS.
|
||||
TCF RETURNTJ
|
||||
ZONE3 CCS EDOT # CHECK IF EDOT IS ZERO.
|
||||
ZONE3 CCS EDOT # CHECK IF EDOT IS ZERO.
|
||||
CAF BIT6 # FIRE A ONE-JET MINIMUM IMPULSE.
|
||||
TCF RETURNTJ # TJET = +0.
|
||||
TC CCSHOLE # CANNOT BE BECAUSE NEG EDOT COMPLEMENTED.
|
||||
TCF RETURNTJ # TJET = +0.
|
||||
|
||||
ZONE1 EXTEND
|
||||
INDEX ADRSDIF1
|
||||
ZONE1 EXTEND
|
||||
INDEX ADRSDIF1
|
||||
SU AXISDIST # SCALED AT PI/4 RAD.
|
||||
EXTEND
|
||||
INDEX ADRSDIF2
|
||||
MP ACCFCTZ1 # SCALED AT 2(7)/PI SEC(2)/RAD.
|
||||
INDEX ADRSDIF2
|
||||
MP ACCFCTZ1 # SCALED AT 2(7)/PI SEC(2)/RAD.
|
||||
DDOUBL
|
||||
DDOUBL
|
||||
DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
|
||||
DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
|
||||
|
||||
# TEST WHETHER TOTAL TIME REQUIRED GREATER THAN 150 MSEC:
|
||||
# 2 2
|
||||
|
|
@ -376,43 +376,43 @@ ZONE1 EXTEND
|
|||
EXTEND
|
||||
SQUARE
|
||||
EXTEND
|
||||
SU HH # HIGH WORD OF H SCALED AT 8 SEC(2).
|
||||
SU HH # HIGH WORD OF H SCALED AT 8 SEC(2).
|
||||
EXTEND
|
||||
BZMF FULLTIME # YES. NEED NOT CALCULATE TJET.
|
||||
BZMF FULLTIME # YES. NEED NOT CALCULATE TJET.
|
||||
|
||||
# TEST WHETHER TIME BEYOND AXIS GREATER THAN 50 MSEC TO DETERMINE WHICH APPROXIMATION TO USE.
|
||||
|
||||
CAE HH
|
||||
AD NEG2
|
||||
EXTEND
|
||||
BZMF FORMULA3
|
||||
BZMF FORMULA3
|
||||
|
||||
# Page 1467
|
||||
# TJET = H/0.1 + TTOAXIS + .0375 FOR APPROXIMATION OVER MORE THAN 50 MSEC.
|
||||
|
||||
CAF .1AT2 # STORE .1 SEC SCALED AT 2 FOR DIVISION.
|
||||
DXCH HH # DP H SCALED AT 8 SEC(2) NEED NOT BE
|
||||
DXCH HH # DP H SCALED AT 8 SEC(2) NEED NOT BE
|
||||
EXTEND # PRESERVED.
|
||||
DV HH # QUOTIENT SCALED AT 4 SECONDS.
|
||||
DV HH # QUOTIENT SCALED AT 4 SECONDS.
|
||||
AD TTOAXIS # SCALED AT 4 SEC.
|
||||
AD .0375AT4 # .0375 SEC SCALED AT 4.
|
||||
TCF RETURNTJ # END COMPUTATION.
|
||||
|
||||
# TJET - H/.O25 + TTOAXIS FOR APPROXIMATION OVER LESS THAN 50 MSEC.
|
||||
|
||||
FORMULA3 CS -.025AT2 # STORE +.25 SEC SCALED AT 2 FOR DIVISION
|
||||
DXCH HH # PICK UP DP H AT 8, WHICH NEED NOT BE
|
||||
FORMULA3 CS -.025AT2 # STORE +.25 SEC SCALED AT 2 FOR DIVISION
|
||||
DXCH HH # PICK UP DP H AT 8, WHICH NEED NOT BE
|
||||
EXTEND # PRESERVED.
|
||||
DV HH # QUOTIENT SCALED AT 4 SECONDS.
|
||||
DV HH # QUOTIENT SCALED AT 4 SECONDS.
|
||||
AD TTOAXIS # SCALED AT 4 SEC.
|
||||
|
||||
# IF COMPUTED JET TIME IS LESS THAN TJMIN, TJET IS SET TO ZERO.
|
||||
# MINIMUM IMPULSES REQUIRED IN ZONE 3 ARE NOT SUBJECT TO THIS CONSTRAINT, NATURALLY.
|
||||
|
||||
CHKMINTJ AD -TJMIN # IS COMPUTED TIME LESS THAN THE MINIMUM.
|
||||
CHKMINTJ AD -TJMIN # IS COMPUTED TIME LESS THAN THE MINIMUM.
|
||||
EXTEND
|
||||
BZMF COASTTJ # YES, SET TIME TO ZERO.
|
||||
AD TJMIN # NO, RESTORE COMPUTED TIME.
|
||||
BZMF COASTTJ # YES, SET TIME TO ZERO.
|
||||
AD TJMIN # NO, RESTORE COMPUTED TIME.
|
||||
TCF RETURNTJ # END COMPUTATION.
|
||||
|
||||
# Page 1468
|
||||
|
|
@ -428,50 +428,50 @@ CHKMINTJ AD -TJMIN # IS COMPUTED TIME LESS THAN THE MINIMUM.
|
|||
# RUFLAW2: ERROR MORE POSITIVE THAN PI/16 RAD. FIRE TO AN OPPOSING RATE OF 6.5 DEG/SEC.
|
||||
# RUFLAW3: ERROR RATE GREATER THAN PI/32 RAD/SEC AND ERROR WITHIN BOUNDS. COAST IF BELOW FIREFCT, FIRE IF ABOVE
|
||||
|
||||
RUFLAW1 CS RUFRATE # DECREMENT EDOT BY .1444 RAD/SEC AT PI/4
|
||||
RUFLAW1 CS RUFRATE # DECREMENT EDOT BY .1444 RAD/SEC AT PI/4
|
||||
ADS EDOT # WHICH IS THE TARGET RATE
|
||||
EXTEND
|
||||
BZMF SMALRATE # BRANCH IF RATE LESS THAN TARGET.
|
||||
BZMF SMALRATE # BRANCH IF RATE LESS THAN TARGET.
|
||||
TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
|
||||
CAE EDOT # PICK UP DESIRED RATE CHANGE.
|
||||
|
||||
RUFLAW12 EXTEND # COMPUTE TJET
|
||||
INDEX ADRSDIF2 # = (DESIRED RATE CHANGE)/(2-JET ACCEL.)
|
||||
RUFLAW12 EXTEND # COMPUTE TJET
|
||||
INDEX ADRSDIF2 # = (DESIRED RATE CHANGE)/(2-JET ACCEL.)
|
||||
MP 1/ANET1 +2
|
||||
AD -1/8 # IF TJET, SCALED AT 32 SEC, EXCEEDS
|
||||
EXTEND # 4 SECONDS, SET TJET TO TJMAX.
|
||||
BZMF +2
|
||||
BZMF +2
|
||||
TCF FULLTIME
|
||||
EXTEND
|
||||
BZF FULLTIME
|
||||
AD BIT12 # RESTORE COMPUTED TJET TO ACCUMULATOR
|
||||
DAS A
|
||||
DAS A
|
||||
DAS A # RESCALED TJET AT 4 SECONDS.
|
||||
DAS A # RESCALED TJET AT 4 SECONDS.
|
||||
TCF CHKMINTJ # RETURN AS FROM FINELAW.
|
||||
|
||||
SMALRATE TC RUFSETUP +2 # SET NUMBERT AND FIREFCT FOR MAXIMUM JETS
|
||||
SMALRATE TC RUFSETUP +2 # SET NUMBERT AND FIREFCT FOR MAXIMUM JETS
|
||||
CCS ROTSENSE
|
||||
CAF ONE # MODIFY INDEXER TO POINT TO 1/ANET
|
||||
TCF +2 # CORRESPONDING TO THE PROPER SENSE.
|
||||
CAF ONE # MODIFY INDEXER TO POINT TO 1/ANET
|
||||
TCF +2 # CORRESPONDING TO THE PROPER SENSE.
|
||||
CAF NEGONE
|
||||
ADS ADRSDIF2
|
||||
|
||||
CS EDOT # (.144 AT PI/4 - EDOT) = DESIRED RATE CHNG.
|
||||
TCF RUFLAW12
|
||||
|
||||
RUFLAW2 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
|
||||
RUFLAW2 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS.
|
||||
CAF RUFRATE
|
||||
AD EDOT # (.144 AT PI/4 + EDOT) = DESIRED RATE CHNG.
|
||||
TS A # IF OVERFLOW SKIP, FIRE FOR FULL TIME.
|
||||
TS A # IF OVERFLOW SKIP, FIRE FOR FULL TIME.
|
||||
TCF RUFLAW12 # OTHERWISE, COMPUTE JET TIME.
|
||||
TCF FULLTIME
|
||||
|
||||
# Page 1469
|
||||
RUFLAW3 TC RUFSETUP # EXECUTE COMMON RUFLAW SUBROUTINE.
|
||||
RUFLAW3 TC RUFSETUP # EXECUTE COMMON RUFLAW SUBROUTINE.
|
||||
INDEX ADRSDIF1
|
||||
CS FIREDB # CALCULATE DISTANCE FROM SWITCH CURVE
|
||||
AD E # 1/ANET1*EDOT*EDOT +E - FIREDB = 0
|
||||
AD E # 1/ANET1*EDOT*EDOT +E - FIREDB = 0
|
||||
EXTEND # SCALED AT 4 PI RADIANS
|
||||
MP BIT11
|
||||
XCH EDOT
|
||||
|
|
@ -482,12 +482,12 @@ RUFLAW3 TC RUFSETUP # EXECUTE COMMON RUFLAW SUBROUTINE.
|
|||
MP 1/ANET1 +2
|
||||
AD EDOT
|
||||
EXTEND
|
||||
BZMF COASTTJ # COAST IF BELOW IT.
|
||||
BZMF COASTTJ # COAST IF BELOW IT.
|
||||
TCF FULLTIME # FIRE FOR FULL PERIOD IF ABOVE IT.
|
||||
|
||||
# SUBROUTINE USED IN ALL ENTRIES TO ROUGHLAW.
|
||||
|
||||
RUFSETUP CS ROTSENSE # REVERSE ROTSENSE WHEN ENTER HERE.
|
||||
RUFSETUP CS ROTSENSE # REVERSE ROTSENSE WHEN ENTER HERE.
|
||||
TS ROTSENSE
|
||||
+2 CAF FOUR # REQUIRE MAXIMUM (2) JETS IN U,V-AXES.
|
||||
TS NUMBERT
|
||||
|
|
@ -497,23 +497,23 @@ RUFSETUP CS ROTSENSE # REVERSE ROTSENSE WHEN ENTER HERE.
|
|||
|
||||
# CONSTANTS FOR TJETLAW
|
||||
|
||||
DEC -16 # AXISDIFF(INDEX) = NUMBER OF REGISTERS
|
||||
AXISDIFF DEC +0 # BETWEEN STORED 1/ACCS PARAMETERS FOR
|
||||
DEC 16 # THE INDEXED AXIS AND THE U-AXIS.
|
||||
SENSOR OCT 14400 # RATIO OF TJET SCALING WITHIN TJETLAW
|
||||
# (4 SEC) TO SCALING FOR T6 (10.24 SEC).
|
||||
-3DEG DEC -.06667 # -3.0 DEGREES SCALED AT 45.
|
||||
-.0112A8 DEC -.00141 # -.01125 SEC(2) SCALED AT 8.
|
||||
.1AT4 DEC .025 # 0.1 SECOND SCALED AT 4.
|
||||
.1AT2 DEC .05 # .1 SEC SCALED AT 2.
|
||||
.0375AT4 DEC .00938 # .0375 SEC SCALED AT 4.
|
||||
-.025AT2 DEC -.0125 # -.025 SEC SCALED AT 2.
|
||||
DEC -16 # AXISDIFF(INDEX) = NUMBER OF REGISTERS
|
||||
AXISDIFF DEC +0 # BETWEEN STORED 1/ACCS PARAMETERS FOR
|
||||
DEC 16 # THE INDEXED AXIS AND THE U-AXIS.
|
||||
SENSOR OCT 14400 # RATIO OF TJET SCALING WITHIN TJETLAW
|
||||
# (4 SEC) TO SCALING FOR T6 (10.24 SEC).
|
||||
-3DEG DEC -.06667 # -3.0 DEGREES SCALED AT 45.
|
||||
-.0112A8 DEC -.00141 # -.01125 SEC(2) SCALED AT 8.
|
||||
.1AT4 DEC .025 # 0.1 SECOND SCALED AT 4.
|
||||
.1AT2 DEC .05 # .1 SEC SCALED AT 2.
|
||||
.0375AT4 DEC .00938 # .0375 SEC SCALED AT 4.
|
||||
-.025AT2 DEC -.0125 # -.025 SEC SCALED AT 2.
|
||||
-.025AT4 DEC -.00625
|
||||
-.05AT2 DEC -.025
|
||||
-.15AT2 DEC -.075
|
||||
.00375A8 2DEC .00375 B-3
|
||||
.00375A8 2DEC .00375 B-3
|
||||
|
||||
-TJMAX DEC -.0375 # LARGEST CALCULATED TIME. .150 SEC AT 4.
|
||||
TJMIN DEC .005 # SMALLEST ALLOWABLE TIME. .020 SEC AT 4.
|
||||
-TJMAX DEC -.0375 # LARGEST CALCULATED TIME. .150 SEC AT 4.
|
||||
TJMIN DEC .005 # SMALLEST ALLOWABLE TIME. .020 SEC AT 4.
|
||||
-TJMIN DEC -.005
|
||||
RUFRATE DEC .1444 # CORRESPONDS TO TARGET RATE OF 6.5 DEG/S.
|
||||
RUFRATE DEC .1444 # CORRESPONDS TO TARGET RATE OF 6.5 DEG/S.
|
||||
|
|
|
|||
Loading…
Reference in New Issue