sat = class_sat.Satellite(np.array([0, 0, 0, 1, 0, 0, 0]), 0)
sat.setRequiredTorque(0)
Mag_i = np.array([1, 1, 1]) * 1e-4
sat.setMag_i(Mag_i)
sat.setPos(np.array([1, 1, 1]))
sat.setVel(np.array([1, 1, 2]))
voltageRequired = TorqueApplied.ctrlTorqueToVoltage(sat)
duty_cycle = voltageRequired / 3.3
n = 15
num_cycles = int(CONTROL_STEP * PWM_FREQUENCY)
num_instants = int(num_cycles * n * 2)
timeArr = tc_step_sampling.getTimeArr(duty_cycle)
time1 = np.zeros(1)
for i in range(0, num_cycles):
time1 = np.concatenate((time1, timeArr + i / PWM_FREQUENCY))
timeArr = min_step_sampling.getTime(duty_cycle, 15)
time2 = np.zeros(1)
for i in range(0, num_cycles):
time2 = np.concatenate((time2, timeArr + i / PWM_FREQUENCY))
time3 = np.linspace(0, CONTROL_STEP, 1000001, endpoint=True)
current1 = aac.getCurrentList(duty_cycle, time1, len(time1), I0=np.zeros(3))
current2 = aac.getCurrentList(duty_cycle, time2, len(time2), I0=np.zeros(3))
current3 = aac.getCurrentList(duty_cycle, time3, len(time3), I0=np.zeros(3))
v_mag_b = np.sin(np.array([1, 2, 3])*2*np.pi/1e-3*t) # B =sin((1e-3, 2e-3, 3e-3)*2pi/T*t)
return v_mag_b
I0 = np.zeros(3) # initial current is 0
time_period = 1/PWM_FREQUENCY
num_steps = 5
w_initial = np.zeros((1, 4))
num_cycles_per_step = int(CONTROL_STEP/time_period)
for i in range(0, num_steps):
time = np.array([i*CONTROL_STEP]) # initialising the time array for the control step
duty = np.array([i+1, i+2, i+3]) * 1e-3*((-1)**i) # initialising the duty cycle
timeArr = tc.getTimeArr(duty) # getting the time array for one PWM cycle
num_instants_per_cycle = len(timeArr)
for j in range(0, num_cycles_per_step):
time = np.concatenate((time, timeArr + j*time_period + i*CONTROL_STEP)) # setting the time array for the whole step
edgeCurrentArray = aac.getEdgeCurrent(duty, I0) # getting the current at the edges
w_array = np.zeros((len(time), 4))
w_array[0] = w_initial
w_array[:, 0] = time
print("Step ", i + 1)
for j in range(0, num_cycles_per_step):
for k in range(j*num_instants_per_cycle, (j+1)*num_instants_per_cycle):
intTimeArr1 = np.linspace(time[k]%2, time[k+1]%2, 3, endpoint=True) # setting the time array for the integration step
intTimeArr = np.linspace(time[k], time[k+1], 3, endpoint=True)
currentArray = aac.getCurrentList(duty, intTimeArr1, 3, edgeCurrentArray) # getting the current for the integration cycles
import numpy as np
from constants_1U import PWM_FREQUENCY, CONTROL_STEP, v_A_Torquer, No_Turns
import analytical_act_current as aac
import tc_step_sampling as tc
import time as timer
start = timer.time()
v_duty_cycle = np.array([3, 4, 5])*1e-3
timeArr = tc.getTimeArr(v_duty_cycle)
num_instants_per_cycle = len(timeArr)
num_cycles = int(CONTROL_STEP * PWM_FREQUENCY)
time = np.zeros(1)
for i in range(0, 2 * num_cycles):
time = np.concatenate((time, timeArr + i / PWM_FREQUENCY))
w_array = np.zeros((len(time), 4))
w_array[:, 0] = time
I0 = np.zeros(3)
time_period = 1/PWM_FREQUENCY
def w_dot_BI(current, b):
v_mu = No_Turns*np.multiply(v_A_Torquer, current)
v_w_dot = np.cross(v_mu, b)
return v_w_dot
def getMag_b(time):
v_mag_b = np.array([1, 2, 3])*1e-3
return v_mag_b