//////////////////////////////////////////////////////////////////// // // PURPOSE: List of vehicle parameters, such as mass properties. // // DATE: 2009/12/08 // // NOTES: All values (except "strings") must be followed by // a unit abbreviation (or one of the unit-like // abbreviations: n/a, bool, enum, count). // // The control gains are adjusted for an Easy-Servo sampling // period of 2 seconds. // // //////////////////////////////////////////////////////////////////// // name = "Tethys"; id = 0 enum; Ts = .2 s; //Control system sampling prd. // propPitch = 0.02987 m/rad; //This is the water advance in the wake. Not vehicle speed through water propPitch = 0.0318309 m/rad; //Corrected value to achieve 300rpm/150rpm for high/low speed. Units are Meters/rad tau = 2.5 s; //Command generator time const. // // Heading (Sway/Yaw): kpHeading = 1.0 n/a; //Position gain, kdHeading = 0.05 s; //Rate gain kwpHeading = .05 rad/m; //Cross-track error gain kiHeading = 0.001 1/s; //Integral gain // kiwp = 0.002 rad/s/m; //crs trk intgrl gain maxHdgRate = 0.2094395 rad/s; //Max turn rate maxHdgInt = 0.0872664 rad; //max cmded rudder from hdg int rudLimit = 12. arcdeg; //15. arcdeg; //Max rudder angle rudDeadband = .1 arcdeg; //Degree of rounding in output values maxXteInt = 10. arcdeg; //Max heading trim maxXteOff = 10. m; //xte int off above this error // Pitch: maxPitchInt = 0.1745329 rad; // max cmded elev from pitch int pitchLimit = 0.523598 rad; // Max pitch kpPitchElevator = 0.25 n/a; // Proportional gain kiPitchElevator = 0.0 1/s; // Integral gain kdPitchElevator = 0.05 s; // Derivative gain elevLimit = 12. arcdeg; // max elevator angle elevRequired = 15 arcdeg; // If the change in pitch is greater // than this value, use the elevator kpPitchMass = 0.200 n/a; // Proportional gain kiPitchMass = 0.010 1/s; // Integral gain kdPitchMass = 0.000 s; // Derivative gain massPositionLimit = 35 mm; // changed BCK 12/01/2009 34 mm; // max offset forward or aft of center massPositionDelay = 7.0 s; // Time (in seconds) after pitch setting change // to use elevator control. After this time, // the elevator is zeroed, and mass control takes over. buoyancyOverrideDelay = 300.0 s; // If we are requesting upwards motion, // and haven't achieved it within this time // maximize the buoyancy to go up. dropWtOverrideDelay = 15 min; // If we are requesting upwards motion, // and haven't achieved it within this time // drop the drop weight to go up. depthRateSamples = 20 count; // Number of depth rate samples to average. depthRateDeadband = 0.02 m/s; // Values less than this value are // considered to be zero. // // Depth (Heave/Pitch): kpDepth = 0.07 rad/m; //Dive loop pos'n gain // was 0.09 kiDepth = 0.002 rad/s/m; //Dive loop int. gain // was 0.0008 kdDepth = 0.00 rad-s/m; //Dive loop deriv. gain // was 0.12 // kpDepth = 0.04 rad/m; //Dive loop pos'n gain // was 0.09 // kiDepth = 0.0008 rad/s/m; //Dive loop int. gain // was 0.0008 // kdDepth = 0.08 rad-s/m; //Dive loop deriv. gain // was 0.12 kiDepthOff = 0.50 m/s; //Integrator shut-off maxDiveRate = 0.5 m/s; //was .5 m/s maxDepthInt = 0.0872664 rad; //max cmded pitch frm depth int // // Flags: sendDataToShore = 1 bool; // If true, radio data to shore over Iridium decouple = 0 bool; // Decouple heading and depth control altimeterInstrument = 0 enum; // 0 => DVL, 1 => PSA useLbl = 0 bool; // 0 => log only; 1 => Use for control useIns = 0 bool; // // Not used? kiHeadingLimit = 5. arcdeg; //Limit on integral term kiPitchLimit = 10. arcdeg; //Limit on integral term rudActLimit = 10000 count; //Max actuator excursion rudActRateLimit = 1200. count/s; // elevActLimit = 10000 count; //Max actuator excursion elevActRateLimit = 1200. count/s; // // // Mass Properties: mass = 136.0 kg; //Flooded Vehicle mass ( x 9.80665 m/s2 = 1333.7044 N) volume = 0.1330 m3; //m3 (equals 1337 N buoyancy in 1025 kg/m3 water) //excludes buoyancy bladder at default setting // // Stability Derivatives: effDragCoef = .21 n/a; //veh drag in x; related to Xuu Xuabu = -6.2282 kg/m; //Force Derivative, > -6.98 kg/m because fin drag added separately // // Geometric Parameters (Used only by the simulation) // // The following y & z CG values were measured on 1 June, for the 1st Octans // test. The x value is computed. // centerOfMassX = 0.1181 m; centerOfMassY = -0.000236 m; centerOfMassZ = 0.006794 m; centerOfBuoyX = 0.1181 m; centerOfBuoyY = 0.0 m; centerOfBuoyZ = 0.0 m; // Simple geometric model of vehicle (Used at the surface) cylinderLength = 2 m; cylinderRadius = 6 in; // // We still have the 4 fin Odyssey tailcone model here. The X displacement has // been adjusted for the 389 vehicle. // lowerRudX = -1.973 m; lowerRudY = 0.012 m; lowerRudZ = -0.152 m; upperRudX = -1.973 m; upperRudY = 0.012 m; upperRudZ = 0.152 m; portElevX = -1.973 m; portElevY = -0.152 m; portElevZ = 0.0 m; stbdElevX = -1.973 m; stbdElevY = 0.152 m; stbdElevZ = 0.0 m; // Thruster parameters designSpeed = 1.0 m/s; //Nominal speed designPropEff = 0.86 n/a; //Nominal prop efficiency designOmega = 300 rpm; //Nominal prop rotation rate designThrust = 6.98 N; //Thrust at nominal omega designTorque = 0.23 N-m; //Thrust at nominal thrust // Dropweight1 parameters dropWt1Volume = 0.0000881 m3; //Volume of the drop weight #1, m3 dropWt1Mass = 1.0 kg; //Mass of the drop weight #1, kg dropWt1X = 0.1655 m; //X location of the drop weight #1, m dropWt1Y = 0.0 m; //Y location of the drop weight #1, m dropWt1Z = -0.20 m; //Z location of the drop weight #1, m // // TEST AREA FOR USER LEVEL DRIVERS // // Elevator motor controller values elevCountsPerDeg = 454.666 count/arcdeg; //195; //motor "ticks" per degree of control surface motion elevMtrCenter = 8184 count; //0 degrees "centered" control surface elevPIDw = 1000 count; // Proportional gain elevPIDx = 250 count; // Integral gain elevPIDy = 2500 count; // Differential gain elevCurrLimit = 75 %; // Percent of current allowed elevMargin = 1 arcdeg; // Degrees difference allowed between commanded and actual control surface position elevCtrlAddress = 1 enum; // Address of the physical motor controller unit on the 485 bus elevDeviation = .25 arcdeg; // Number of degrees deviation allowed between expected and actual // Rudder motor controller values ruddCountsPerDeg = 454.666 count/arcdeg; //130; 65; // motor "ticks" per degree of control surface motion ruddMtrCenter = 8184 count; // 0 degrees "centered" control surface ruddPIDw = 1000 count; // Proportional gain ruddPIDx = 250 count; // Integral gain ruddPIDy = 2500 count; // Differential gain ruddCurrLimit = 75 %; // Percent of current allowed ruddCtrlAddress = 2 enum; // Address of the physical motor controller unit on the 485 bus ruddDeviation = .25 arcdeg; // Number of degrees deviation allowed between expected and actual // NOTE: For rudder/elevator velocity can currently be set as high as 2000000 with acceleration at 4000. 08/11/209 - Kieft // General control surface limits mtrLimitHi = 16369 count; // High physical limit for motor controllers mtrLimitLo = 0 count; // Low physical limit for motor controllers massLimitHi = 144180 count; // High physical limit for mass motor controller massLimitLo = -157965 count; // Low physical limit for mass motor controller // Thruster motor controller values thrustCtrlAddress = 3 enum; // Address of the physical motor controller unit on the 485 bus thrustCurrLimit = 100 %; // Percent of current allowed thrustPIDw = 8000 count; thrustPIDx = 100 count; thrustPIDy = 60000 count; thrustTimeout = 5000 ms; // Timeout in ms to wait before throwing overload error thrustEncoderTks = 32.768 count/s; // encoder tick/second multiplier tksPerRev = 32 count/rev; // encoder ticks/revolution as seen by the controller // when feeding back HALL A&B to the encoder inputs thrustDeviation = 25 count; // Number of encoder ticks deviation allowed between expected and actual // NOTE: 10" prop = .187706 m per revolution in wake // 300 rpm == 1m/sec and 150 rpm == .5m/sec. See propPitch // Mass shift motor controller values massCtrlAddress = 4 enum; // Address of the physical motor controller unit on the 485 bus massCurrLimit = 100 %; // Percent of current allowed massOvrloadTmout = 1000 ms; // ms until an overload is reported massTks = 250015 count; // Total encoder ticks for full mass shift travel massTksPerMm = 2465.8859 count/mm;// Number of ticks for one rotation (1 mm of travel) massAccel = 20000 n/a; // Encoder ticks / 32.768 per second squared massVelocity = 60000 n/a; // Encoder ticks / 32.768 per scond massDeviation = 0.5 mm; // Deviation allowed between expected and actual massDefault = 0.0 cm; // Position of mass at pitch=0 at neutral buoyancy // Mass shift control values movableMass = 26 kg; // Kilograms of movable mass (~ 1/3 of vehicle mass ) centerOfMovableMassX = 0.1181 m; centerOfMovableMassY = -0.000236 m; centerOfMovableMassZ = 0.006794 m; buoyancyCtrlAddress = 6 enum; // Address of the physical motor controller unit on the 485 bus buoyancyCurrLimit = 100 %; // Percent of current allowed buoyancyOvrloadTmout = 2000 ms; // ms until an overload is reported buoyancyPIDw = 1500 count; buoyancyPIDx = 0 count; buoyancyPIDy = 3000 count; buoyancyVelocity = 800 n/a; buoyancyAccel = 800 n/a; buoyancyDefault = 945.0 cc; // default amount of oil to be stored in the bladder buoyancyNeutral = 300.0 cc; // amount of oil stored in the bladder when the vehicle is neutral buoyancyCountsPerCC = 7.446016 count/cc;// counts on the A/D per ml of fluid pumped buoyancyLimitHi = 7841 count; // High physical limit for motor controllers buoyancyLimitLo = 350 count; // Low physical limit for motor controller buoyancyLimitHiCC = 955 cc; // High limit for oil. Should be less than the above physical limit for motor controller buoyancyLimitLoCC = 80 cc; // Low limit for oil. Should be less than the above physical limit for motor controller buoyancyPumpDepth = 100.0 m; // Depth must be <= this value in order to safely pump buoyancyDeviation = 10.0 cc; // Number of ml deviation allowed between expected and actual buoyancyCheckingTimeout = 5.0 min; // If the buoyancy is idling, this is how often to check for actual position. If there's a leak. This is when we'll find it. surfaceThreshold = 0.2 m; // Depth at which we consider ourselves on the "surface" batteryThreshold = 20 Ah; // Amount of charge left at which we return to the surface BITHumidityThreshold = 30 %; // relative humidity BITPressureThreshold = 12 psi; // Onboard Pressure CBITAbortDepthTimeout = 10 s; // If this time has elapsed and we're still below abort depth, drop the weight abortDepth = 450 m; // Depth at which we drop the weight. Should be greater than all depth envelopes // // Data and Load Controller Settings // // ("NAME" should match the name specified in component interface header) // // NAME-card: // Load Controller device, if any -- something like /dev/loadcontrol_# // NAME-uart: // Uart device, if any -- something like /dev/ttyS#, ttyTX# or ttyMAX# // NAME-ad: // A/D device, if any -- something like /sys/class/hwmon/hwmon0/device/? // NAME-baud: // Baud rate for uart // NAME-address: // Address for RS-485 buses // NAME-vref: // VRef for for A/D devices // // Depth_MSI_US300 uses Load Controller 0 A/D and switch Depth_MSI_US300_card = "/dev/loadcontrol_0"; Depth_MSI_US300_ad = "/dev/mcp3553_0"; Depth_MSI_US300_timeout = 70 ms; Depth_MSI_US300_vref = 5.0 V; Depth_MSI_US300_res = 21 bit; // AHRS_sp3003D uses Load Controller 1 switch, Onboard UART 2 (ttyTX1). AHRS_sp3003D_card = "/dev/loadcontrol_1"; AHRS_sp3003D_uart = "/dev/ttyTX1"; AHRS_sp3003D_baud = 9600 bps; AHRS_sp3003D_deviation = 0 arcdeg; // DVL_NavQuest600 uses Load Controller 2 switch, Onboard UART 3 (ttyS1). DVL_NavQuest600_card = "/dev/loadcontrol_2"; DVL_NavQuest600_uart = "/dev/ttyS1"; DVL_NavQuest600_baud = 115200 bps; // NAL9601 uses Load Controller 3 switch, Onboard UART 4 (ttyS2). NAL9601_card = "/dev/loadcontrol_3"; NAL9601_uart = "/dev/ttyS2"; NAL9601_baud = 19200 bps; // Console & Radio_Freewave uses Load Controller 4 switch, Onboard UART 5 (ttyS0). Radio_Freewave_card = "/dev/loadcontrol_4"; Radio_Freewave_uart = "/dev/ttyS0"; Radio_Freewave_baud = 115200 bps; // Elevator uses Load Controller 5 switch, Onboard UART 6 (ttyS3), RS-4853 1. ElevatorServo_card = "/dev/loadcontrol_5"; ElevatorServo_uart = "/dev/ttyS3"; ElevatorServo_baud = 9600 bps; ElevatorServo_address = 1 enum; // Rudder uses Load Controller 6 switch, Onboard UART 6 (ttyS3), RS-485# 2. RudderServo_card = "/dev/loadcontrol_6"; RudderServo_uart = "/dev/ttyS3" RudderServo_baud = 9600 bps; RudderServo_address = 2 enum; // Thruster uses Load Controller 7 switch, Onboard UART 6 (ttyS3), RS-485# 3. ThrusterServo_card = "/dev/loadcontrol_7"; ThrusterServo_uart = "/dev/ttyS3" ThrusterServo_baud = 9600 bps; ThrusterServo_address = 3 enum; // Movable Mass uses Load Controller 8 switch, Onboard UART 6 (ttyS3), RS-485# 4. MassServo_card = "/dev/loadcontrol_8"; MassServo_uart = "/dev/ttyS3" MassServo_baud = 9600 bps; MassServo_address = 4 enum; // Buoyancy uses Load Controller 8 switch, Onboard UART 6 (ttyS3), RS-485# 5. BuoyancyServo_card = "/dev/loadcontrol_9"; BuoyancyServo_uart = "/dev/ttyS3" BuoyancyServo_baud = 9600 bps; BuoyancyServo_address = 5 enum; // AHRS_3DMGX1 uses Load Controller 10 switch and UART. AHRS_3DMGX1_card = "/dev/loadcontrol_10"; AHRS_3DMGX1_uart = "/dev/ttyMAX5"; AHRS_3DMGX1_baud = 115200 bps; AHRS_3DMGX1_deviation = 0 arcdeg; // CTD_NeilBrown uses Load Controller 11 switch and UART. CTD_NeilBrown_card = "/dev/loadcontrol_11"; CTD_NeilBrown_uart = "/dev/ttyMAX4"; CTD_NeilBrown_baud = 9600 bps; CTD_NeilBrown_offset = 0.755 decibar; // Optical_BBFL2 uses Load Controller 12 switch and UART. Optical_BBFL2_card = "/dev/loadcontrol_12"; Optical_BBFL2_uart = "/dev/ttyMAX12"; Optical_BBFL2_baud = 9600 bps; // Oxygen_Optode_4330 uses Load Controller 13 switch and UART. Oxygen_Optode_4330_card = "/dev/loadcontrol_13"; Oxygen_Optode_4330_uart = "/dev/ttyMAX13"; Oxygen_Optode_4330_baud = 9600 bps; // Nitrate_ISUS uses Load Controller 14 switch and UART. Nitrate_ISUS_LR_card = "/dev/loadcontrol_14"; Nitrate_ISUS_LR_uart = "/dev/ttyMAX14"; Nitrate_ISUS_baud = 57600 bps; // USB_80211B uses Load Controller 15 switch, onboard USB. USB_80211B_card = "/dev/loadcontrol_15"; // BatteryManagementA uses Onboard UART 1 (ttyTX0). BatteryManagementA_uart = "/dev/ttyTX0" BatteryManagementA_baud = 19200 bps; // BatteryManagementA uses Onboard UART 7 (ttyTX2). BatteryManagementB_uart = "/dev/ttyTX2" BatteryManagementB_baud = 19200 bps; // Onboard Humidity uses Processor A/D 0. OnboardHumidity_ad = "/dev/adlpc32xx_0"; OnboardHumidity_vref = 3.15 V; OnboardHumidity_res = 10 bit; // Onboard Temperature uses Processor A/D 1. OnboardTemperature_ad = "/dev/adlpc32xx_1"; OnboardTemperature_vref = 3.15 V; OnboardTemperature_res = 10 bit; // Onboard Pressure uses Processor A/D 2. OnboardPressure_ad = "/dev/adlpc32xx_2"; OnboardPressure_vref = 3.15 V; OnboardPressure_res = 10 bit; // MainGroundfault uses Motherboard SPI A/D 0. MainGroundfault_ad = "/dev/ad7888_0"; MainGroundfault_vref = 2.5 V; MainGroundfault_res = 12 bit; // RudderCompensatorLow uses Motherboard SPI A/D 3. RudderCompensatorLow_ad = "/dev/ad7888_3"; RudderCompensatorLow_vref = 2.5 V; RudderCompensatorLow_res = 12 bit; // ElevatorCompensatorLow uses Motherboard SPI A/D 4. ElevatorCompensatorLow_ad = "/dev/ad7888_4"; ElevatorCompensatorLow_vref = 2.5 V; ElevatorCompensatorLow_res = 12 bit;