controller module

Controller module for attitude determination and control system.

This module models the behavior of a PD controller and contains a class that stores controller gains and associated controller methods.

class controller.PDController(k_d, k_p)

Bases: object

A class to store PD controller parameters and methods

Parameters:

• k_d (numpy ndarray) – the gains matrix (3x3) for the derivative control
• k_p (numpy ndarray) – the gains matrix (3x3) for the proportional control

k_d

numpy ndarray – the gains matrix (3x3) for the derivative control

k_p

numpy ndarray – the gains matrix (3x3) for the proportional control

calculate_control_torques(attitude_err, attitude_rate_err, J)

Calculates the necessary control torques given input errors

Parameters:

• attitude_err (numpy ndarray) – the attitude error (3x1) of the spacecraft at a given time
• attitude_rate_err (numpy ndarray) – the attitude rate error (3x1) of the spacecraft at a given time
• J (numpy ndarray) – the spacecraft’s inertia tensor (3x3) (kg * m^2)

Returns:

the control torque (3x1) produced by the PD

controller (N * m)

Return type:

numpy ndarray