James Harris
@@ -43,8 +43,8 @@
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# GTS IS THE ENTRY TO THE GIMBAL TRIM SYSTEM FOR CONTROLLING ATTITUDE ERRORS AND RATES AS WELL AS ACCELERATIONS.
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GTS CAF NEGONE # MAKE THE NEXT PASS THROUGH THE DAP BE
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TS COTROLER # THROUGH RCS CONTROL,
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CAF FOUR # AND ENSURE THAT IT IS NOT A SKIP.
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TS COTROLER # THROUGH RCS CONTROL,
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CAF FOUR # AND ENSURE THAT IT IS NOT A SKIP.
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TS SKIPU
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TS SKIPV
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@@ -55,11 +55,11 @@ GTS CAF NEGONE # MAKE THE NEXT PASS THROUGH THE DAP BE
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# THE DRIVE SETTING ALGORITHM
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#
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# DEL = SGN(OMEGA + ALPHA*ABS(ALPHA)/(2*K))
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# 2 1/2 2 3/2
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# NEGUSUM = ERROR*K + ALPHA*(DEL*OMEGA + ALPHA /(3*K)) + DEL*K (DEL*OMEGA + ALPHA /(2*K))
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# DEL = SGN(OMEGA + ALPHA*ABS(ALPHA)/(2*K))
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# 2 1/2 2 3/2
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# NEGUSUM = ERROR*K + ALPHA*(DEL*OMEGA + ALPHA /(3*K)) + DEL*K (DEL*OMEGA + ALPHA /(2*K))
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#
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# DRIVE = -SGN(NEGUSUM)
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# DRIVE = -SGN(NEGUSUM)
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CA SR # SAVE THE SR. SHIFT IT LEFT TO CORRECT
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AD A # FOR THE RIGHT SHIFT DUE TO EDITING.
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@@ -71,11 +71,11 @@ GTSGO+ON CAF TWO # SET INDEXER FOR R-AXIS CALCULATIONS.
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GOQTRIMG CAF ZERO # SET INDEXER FOR Q-AXIS CALCULATIONS
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TS QRCNTR
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# Page 1473
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# RSB 2009 ---------------------------------------------------------------------
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# RSB 2009 -----------------------------------------------------------------------
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# Everything between this line and the similar line below was simply filled-in
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# as-is from Luminary 131, and then verified to assemble to the proper binary
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# values. This area is blank on the Luminary 099 print-out, as if the
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# printer ribbon had run out.
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# values. This area is blank on the Luminary 099 print-out, as if the printer
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# ribbon had run out.
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INDEX QRCNTR # AOS SCALED AT PI/2
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CA AOSQ
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EXTEND
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@@ -124,7 +124,7 @@ ALGORTHM EXTEND # Q(R)DIFF IS THETA (ERROR) SCALED AT PI.
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EXTEND
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DCS A # ALPHA(2)/2 - K
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AD KCENTRAL
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# RSB 2009 ---------------------------------------------------------------------
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# RSB 2009 -----------------------------------------------------------------------
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EXTEND
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DV KCENTRAL # HIGH ORDER OF QUOTIENT.
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XCH A2CNTRAL
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@@ -202,7 +202,7 @@ FUNCT3 CA A2CNTRAL
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MP NEG1/3
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ADS A2CNTRAL +1
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TS L
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TCF +2 # A2CNTRAL NOW CONTAINS -ALPHA(2)/(6*K),
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TCF +2 # A2CNTRAL NOW CONTAINS -ALPHA(2)/(6*K),
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ADS A2CNTRAL # SCALED AT 16*PI, IN D.P.
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EXTEND
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@@ -302,7 +302,7 @@ ACDT+C12 CS NEGUQ
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# THE OFFSET ANGULAR ACCELERATION ABOUT THE Q (OR R) AXIS. INSTEAD OF USING AOSQ(R), TIMEGMBL USES .4*AOSQ(R),
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# SCALED AT PI/8. FOR EACH AXIS, THE DRIVE TIME IS COMPUTED AS ABS(ALPHA/ACCDOT). A ZERO
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# ALPHA OR ACCDOT OR A ZERO QUOTIENT TURNS OFF THE GIMBAL DRIVE IMMEDIATELY. OTHERWISE, THE GIMBAL IS TURNED ON
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# DRIVING IN THE CORRECT DIRECTION. THE Q(R)GIMTIMR IS SET TO TERMINATE THE DRIVE AND Q(R)ACCDOT
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# DRIVING IN THE CORRECT DIRECTION. THE Q(R)GIMTIMR IS SET TO TERMINATE THE DRIVE AND Q(R)ACCDOT
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# IS STORED TO REFLECT THE NEW ACCELERATION DERIVATIVE. NEGUQ(R) WILL CONTAIN +1,+0,-1 FOR A Q(R)ACCDOT VALUE
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# WHICH IS NEGATIVE, ZERO, OR POSITIVE.
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#
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@@ -323,15 +323,15 @@ ACDT+C12 CS NEGUQ
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# INTERRUPT INHIBITED.
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#
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# ERASABLE STORAGE CONFIGURATION (NEEDED BY THE INDEXING METHODS):
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# NEGUQ ERASE +2 # NEGATIVE OF Q-AXIS GIMBAL DRIVE
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# (SPWORD) EQUALS NEGUQ +1 # ANY S.P. ERASABLE NUMBER, NOW THRSTCMD
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# NEGUR EQUALS NEGUQ +2 # NEGATIVE OF R-AXIS GIMBAL DRIVE
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# ACCDOTQ ERASE +2 # Q-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
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# (SPWORD) EQUALS ACCDOTQ +1 # ANY S.P. ERASABLE NUMBER NOW QACCDOT
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# ACCDOTR EQUALS ACCDOTQ +2 # R-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
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# # ACCDOTQ, ACCDOTR ARE MAGNITUDES.
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# AOSQ ERASE +4 # Q-AXIS ACC., D.P. AT PI/2 R/SEC(2)
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# AOSR EQUALS AOSQ +2 # R-AXIS ACCELERATION SCALED AT PI/2 R/S2
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# NEGUQ ERASE +2 # NEGATIVE OF Q-AXIS GIMBAL DRIVE
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# (SPWORD) EQUALS NEGUQ +1 # ANY S.P. ERASABLE NUMBER, NOW THRSTCMD
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# NEGUR EQUALS NEGUQ +2 # NEGATIVE OF R-AXIS GIMBAL DRIVE
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# ACCDOTQ ERASE +2 # Q-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
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# (SPWORD) EQUALS ACCDOTQ +1 # ANY S.P. ERASABLE NUMBER NOW QACCDOT
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# ACCDOTR EQUALS ACCDOTQ +2 # R-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
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# # ACCDOTQ,ACCDOTR ARE MAGNITUDES.
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# AOSQ ERASE +4 # Q-AXIS ACC., D.P. AT PI/2 R/SEC(2)
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# AOSR EQUALS AOSQ +2 # R-AXIS ACCELERATION SCALED AT PI/2 R/S2
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QRNDXER EQUALS ITEMP6
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OCT23146 OCTAL 23146 # DECIMAL .6
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@@ -358,10 +358,10 @@ ALPHATRY INDEX QRNDXER
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EXTEND
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BZF TGOFFNOW # IS ALPHA ZERO?
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TS Q # SAVE A COPY OF -AOS.
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TS Q # SAVE A COPY OF -AOS.
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EXTEND # NO. RESCALE FOR TIMEGMBL USE.
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MP OCT23146 # OCTAL 23146 IS DECIMAL .6
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AD Q # -1.6*AOS AT PI/2 = -.4*AOS AT PI/8
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AD Q # -1.6*AOS AT PI/2 = -.4*AOS AT PI/8.
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TS L # WAS THERE OVERFLOW?
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TCF SETNEGU # NO. COMPUTE DRIVE TIME.
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@@ -433,14 +433,14 @@ DONEYET CCS QRNDXER
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OCT00240 OCTAL 00240 # DECIMAL 10/1024
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# Page 1481
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# THE FOLLOWING SECTION IS A CONTINUATION OF THE TRIM GIMBAL CONTROL FROM THE LAST GTS ENTRY. THE QUANTITY NEGUSUM
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# THE FOLLOWING SECTION IS A CONTINUATION OF THE TRIM GIMBAL CONTROL FROM THE LAST GTS ENTRY. THE QUANTITY NEGUSUM
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# IS COMPUTED FOR EACH AXIS (Q,R), .707*DEL*FUNCTION(3/2) + K2THETA = NEGUSUM. NEW DRIVES ARE ENTERED TO CH 12.
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#
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# THE SUBROUTINE GTSQRT ACCEPTS A DOUBLE PRECISION VALUE IN FUNCTION, FUNCTION +1 AND RETURNS A SINGLE-PRECISION
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# SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF THE ARGUMENT. ALSO, THE CELL SHFTFLAG CONTAINS A BINARY
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# EXPONENT S, SUCH THAT THE SQUARE ROOT (RETURNED IN THE A REGISTER) MUST BE SHIFTED RIGHT (MULTIPLIED BY 2 TO THE
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# POWER (-S)) IN ORDER TO BE THE TRUE SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICANT BITS OF FUNCTION, FUNCTION +1.
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# SQUARE ROOT ERROR IS NOT MORE THAN 2 IN THE 14TH SIGNIFICANT BIT. CELLS CLOBBERED ARE A,L,SHFTFLAG.ININDEX,
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# SQUARE ROOT ERROR IS NOT MORE THAN 2 IN THE 14TH SIGNIFICANT BIT. CELLS CLOBBERED ARE A,L,SHFTFLAG,ININDEX,
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# HALFARG,SCRATCH,SR,FUNCTION, FUNCTION +1. GTSQRT IS CALLED BY TC GTSQRT AND RETURNS VIA TC Q OR TC FUNCTION +1.
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# ZERO OR NEGATIVE ARGUMENTS YIELD ZERO FOR SQUARE ROOTS.
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@@ -506,14 +506,14 @@ SCALDONE EXTEND
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||||
TC ROOTCYCL
|
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TC ROOTCYCL
|
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TC FUNCTION +1
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||||
# ***************************************************************************
|
||||
# ****************************************************************************************************************
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|
||||
RSTOFGTS TC GTSQRT
|
||||
PRODUCT XCH K2CNTRAL
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EXTEND
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MP K2CNTRAL
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DXCH K2CNTRAL
|
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EXTEND # THE PRODUCT OF
|
||||
EXTEND # THE PRODUCT OF
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||||
MP L # 1/2 2 1/2
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||||
ADS K2CNTRAL +1 # K *(DEL*OMEGA + ALPHA /(2*K))
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TS L # AND
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||||
@@ -596,14 +596,14 @@ CLOSEADR 2CADR CLOSEOUT # TERMINATE THE JASK.
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TWELVE EQUALS OCT14
|
||||
ROOTHALF OCTAL 26501 # SQUARE ROOT OF 1/2
|
||||
GMBLBITA OCTAL 01400 # INDEXED WRT GMBLBITB DO NOT MOVE *******
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GMBLBITA OCTAL 01400 # INDEXED WRT GMBLBITB DO NOT MOVE******
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OCT11276 OCTAL 11276 # POSMAX - ROOTHALF
|
||||
GMBLBITB OCTAL 06000 # INDEXED WRT GMBLBITA DO NOT MOVE *******
|
||||
GMBLBITB OCTAL 06000 # INDEXED WRT GMBLBITA DO NOT MOVE******
|
||||
|
||||
# SUBROUTINE ROOTCYCL: BY CRAIG WORK, 3 APRIL 68
|
||||
# SUBROUTINE ROOTCYCL: BY CRAIG WORK,3 APRIL 68
|
||||
# ROOTCYCL IS A SUBROUTINE WHICH EXECUTES ONE NEWTON SQUARE ROOT ALGORITHM ITERATION. THE INITIAL GUESS AT THE
|
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# SQUARE ROOT IS PRESUMED TO BE IN THE A REGISTER AND ONE-HALF THE SQUARE IS TAKEN FROM HALFARG. THE NEW APPROXI-
|
||||
# MATION TO THE SQUARE ROOT IS RETURNED IN THE A REGISTER. DEBRIS: A,L,SR,SCRATCH. ROOTCYCL IS CALLED FROM
|
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# MATION TO THE SQUARE ROOT IS RETURNED IN THE A REGISTER. DEBRIS: A,L,SR,SCRATCH. ROOTCYCL IS CALLED FROM
|
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# LOCATION (LOC) BY A TC ROOTCYCL, AND RETURNS (TC Q) TO LOC +1.
|
||||
# WARNING: IF THE INITIAL GUESS IS NOT GREATER THAN THE SQUARE, DIVIDE OR ADD OVERFLOW IS A REAL POSSIBILITY.
|
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|
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|
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Reference in New Issue
Block a user