From eaec0f796b5fced4e4fead62d83eb5b9ff1ff77b Mon Sep 17 00:00:00 2001 From: Glenn Dwiyatcita Date: Fri, 25 May 2018 21:30:28 +0200 Subject: [PATCH] Proof AUTOMATIC_MANEUVERS (#194) (#335) * Proof FIXED_FIXED_CONSTANT_POOL (#207) * Proof AUTOMATIC_MANEUVERS (#194) --- Comanche055/AUTOMATIC_MANEUVERS.agc | 33 +++++++++++++++++------------ 1 file changed, 19 insertions(+), 14 deletions(-) diff --git a/Comanche055/AUTOMATIC_MANEUVERS.agc b/Comanche055/AUTOMATIC_MANEUVERS.agc index e754f94..7df9b33 100644 --- a/Comanche055/AUTOMATIC_MANEUVERS.agc +++ b/Comanche055/AUTOMATIC_MANEUVERS.agc @@ -51,6 +51,7 @@ AHFNOROT EXTEND EXTEND BZMF HOLDFUNC + AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG. EXTEND # OTHERWISE, GO TO ATTHOLD. BZMF ATTHOLD @@ -81,27 +82,29 @@ FREECONT CAF ONE TS TAU2 TCF T6PROGM + MINTAU DEC 0 DEC 23 # = 14MS DEC -23 # = -14MS DEC 0 # Page 1027 -# CALCULATION OF ATTITUDE ERRORS: -# _ * _ _ _ +# CALCULATION OF ATTITUDE ERRORS- +# - * - - - # 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* # * * * ** * * * # *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. # 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. + ATTHOLD CA CDUX EXTEND MSU THETADX @@ -144,6 +147,7 @@ ATTHOLD CA CDUX ADS ERRORZ TCF JETS + HOLDFUNC CCS HOLDFLAG TCF +3 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 # PLANE. -# -# COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE S/C INTO THE +# COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE # APPROPRIATE DEADZONE. # # . @@ -210,12 +213,15 @@ ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0 # * . * # *. - * # . - ***************** -# .*- +# .* - # . * -------------------------------- +# . * +# . ******************************** # . -# . + # FIG. 1 PHASE PLANE SWITCHING LOGIC -# + + # CONSTANTS FOR JET SWITCHING LOGIC WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180 @@ -435,7 +441,7 @@ J24 CS AERR DAS KMPAC # 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) # J @@ -443,14 +449,14 @@ J24 CS AERR # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE # 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) # 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 # KEYBOARD ENTRY ARE -# J/M (ROLL) +# J/M (ROLL) # J/M1 (PITCH) # J/M2 (YAW) # @@ -496,4 +502,3 @@ T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS) EBANK= KMPAC JETADDR 2CADR JETSLECT -