From 45c0c1faa98171400b169e71a0f01910aa6334c6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joa=CC=83o=20Vaz=20Carneiro?= Date: Sun, 30 Jul 2023 13:30:11 +0100 Subject: [PATCH 1/4] Add a scenario that uses the spinningBodiesTwoDOF module. --- examples/scenarioSpinningBodiesTwoDOF.py | 357 +++++++++++++++++++++++ 1 file changed, 357 insertions(+) create mode 100755 examples/scenarioSpinningBodiesTwoDOF.py diff --git a/examples/scenarioSpinningBodiesTwoDOF.py b/examples/scenarioSpinningBodiesTwoDOF.py new file mode 100755 index 0000000000..f7708ed385 --- /dev/null +++ b/examples/scenarioSpinningBodiesTwoDOF.py @@ -0,0 +1,357 @@ +# +# ISC License +# +# Copyright (c) 2023, Autonomous Vehicle Systems Lab, University of Colorado at Boulder +# +# Permission to use, copy, modify, and/or distribute this software for any +# purpose with or without fee is hereby granted, provided that the above +# copyright notice and this permission notice appear in all copies. +# +# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES +# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF +# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR +# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES +# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN +# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF +# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. +# + +r""" +Overview +-------- + +This scenario demonstrates the capabilities of :ref:`spinningBodyTwoDOFStateEffector`, which represents an effector with +two spin axis. The two-degree-of-freedom formulation allows the simulation of one rigid body attached to the hub through +a universal joint, or a chain of two rigid bodies each attached through a single hinge. The spin axis and mass +distribution of the rigid bodies are arbitrary. + +The scenario can be run with either one or two rigid bodies. The one-panel formulation consists of a cylindrical flat +panel that rotates about two axis in a universal-joint configuration. The panel has similar dimensions to the hub. The +two-panel formulation uses two flat cuboid panels that rotate about perpendicular hinges. The first panel connects +directly to the hub, whereas the second connects to the first. + +The script is found in the folder ``basilisk/examples`` and executed by using:: + + python3 scenarioSpinningBodiesTwoDOF.py + +The scenario outputs two plots: one for the time history of both angles, and another for the time history of both angle +rates. the scenario also creates a comprehensive Vizard simulation which creates appropriate to-scale models for each +simulation type. + +Illustration of Simulation Results +---------------------------------- + +:: + + show_plots = True, numberPanels = 1 + +Here, only a single panel is simulated. The panel connects to the hub through a universal, dual-axis joint. The time +history for both angles and angle rates is shown below. Note how decoupled the two angles are. This is because the +module is simulating a universal joint, so each axis behaves independently from each other. + +.. image:: /_images/Scenarios/scenarioSpinningBodiesTwoDOFtheta1.svg + :align: center + +.. image:: /_images/Scenarios/scenarioSpinningBodiesTwoDOFthetaDot1.svg + :align: center + +:: + + show_plots = True, numberPanels = 2 + +In this case, two panels are simulated. Each rotates about a one-degree-of-freedom hinge. The spin axis are perpendicular +to each other to show how any spin axis can be chosen. Note that in this case, there is much more significant coupling +between the two angles, with them being in-phase with each other. + +.. image:: /_images/Scenarios/scenarioSpinningBodiesTwoDOFtheta2.svg + :align: center + +.. image:: /_images/Scenarios/scenarioSpinningBodiesTwoDOFthetaDot2.svg + :align: center + +""" + +# +# Basilisk Scenario Script and Integrated Test +# +# Purpose: Illustrates the different simulation capabilities of the 2DOF modules +# Author: João Vaz Carneiro +# Creation Date: Feb 22, 2023 +# + +import os +import matplotlib.pyplot as plt + +from Basilisk.utilities import SimulationBaseClass, vizSupport, simIncludeGravBody +from Basilisk.simulation import spacecraft, spinningBodyTwoDOFStateEffector +from Basilisk.utilities import macros, orbitalMotion + +from Basilisk import __path__ +bskPath = __path__[0] +fileName = os.path.basename(os.path.splitext(__file__)[0]) + + +def run(show_plots, numberPanels): + """ + The scenarios can be run with the followings setups parameters: + + Args: + show_plots (bool): Determines if the script should display plots + numberPanels (int): Choose how many panels to simulate (1 or 2) + + """ + + # + # From here on scenario python code is found. Above this line the code is to setup a + # unitTest environment. The above code is not critical if learning how to code BSK. + # + + # Create simulation variable names + simTaskName = "simTask" + simProcessName = "simProcess" + + # Create a sim module as an empty container + scSim = SimulationBaseClass.SimBaseClass() + + # Create the simulation process + dynProcess = scSim.CreateNewProcess(simProcessName) + + # Create the dynamics task and specify the integration update time + simulationTimeStep = macros.sec2nano(.01) + dynProcess.addTask(scSim.CreateNewTask(simTaskName, simulationTimeStep)) + + # + # Set up the simulation tasks/objects + # + + # Define the spacecraft's properties + massSC = 400 + diameter = 2 + height = 4 + + # Initialize spacecraft object and set properties + scObject = spacecraft.Spacecraft() + scObject.ModelTag = "scObject" + scObject.hub.mHub = massSC + scObject.hub.r_BcB_B = [[0.0], [0.0], [0.0]] + scObject.hub.IHubPntBc_B = [[massSC / 16 * diameter ** 2 + massSC / 12 * height ** 2, 0.0, 0.0], + [0.0, massSC / 16 * diameter ** 2 + massSC / 12 * height ** 2, 0.0], + [0.0, 0.0, massSC / 8 * diameter ** 2]] + + # Set up gravity + gravFactory = simIncludeGravBody.gravBodyFactory() + earth = gravFactory.createEarth() + earth.isCentralBody = True # ensure this is the central gravitational body + mu = earth.mu + scObject.gravField.gravBodies = spacecraft.GravBodyVector(list(gravFactory.gravBodies.values())) + + # Set the spacecraft's initial conditions + oe = orbitalMotion.ClassicElements() + oe.a = 8e6 # meters + oe.e = 0.1 + oe.i = 0.0 * macros.D2R + oe.Omega = 0.0 * macros.D2R + oe.omega = 0.0 * macros.D2R + oe.f = 0.0 * macros.D2R + rN, vN = orbitalMotion.elem2rv(mu, oe) + scObject.hub.r_CN_NInit = rN # m - r_CN_N + scObject.hub.v_CN_NInit = vN # m/s - v_CN_N + scObject.hub.sigma_BNInit = [[0.0], [0.0], [0.0]] + scObject.hub.omega_BN_BInit = [[0.05], [-0.05], [0.05]] + + # Create two hinged rigid bodies + spinningBody = spinningBodyTwoDOFStateEffector.SpinningBodyTwoDOFStateEffector() + spinningBody.ModelTag = "SpinningBody" + + # Set up the spinning bodies module + if numberPanels == 1: + # Define the properties of the panel (cylinder) + mass = 50 + radius = diameter + thickness = 0.1 + + # Define the module's properties from the panels + spinningBody.mass1 = 0.0 + spinningBody.mass2 = mass + spinningBody.IS1PntSc1_S1 = [[0.0, 0.0, 0.0], + [0.0, 0.0, 0.0], + [0.0, 0.0, 0.0]] + spinningBody.IS2PntSc2_S2 = [[mass / 12 * (3 * radius ** 2 + thickness ** 2), 0.0, 0.0], + [0.0, mass / 12 * (3 * radius ** 2 + thickness ** 2), 0.0], + [0.0, 0.0, mass / 2 * radius ** 2]] + spinningBody.dcm_S10B = [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]] + spinningBody.dcm_S20S1 = [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]] + spinningBody.r_Sc1S1_S1 = [[0.0], [0.0], [0.0]] + spinningBody.r_Sc2S2_S2 = [[0.0], [radius], [0.0]] + spinningBody.r_S1B_B = [[0.0], [diameter / 2], [height / 2 - thickness / 2]] + spinningBody.r_S2S1_S1 = [[0.0], [0.0], [0.0]] + spinningBody.s1Hat_S1 = [[1], [0], [0]] + spinningBody.s2Hat_S2 = [[0], [1], [0]] + spinningBody.k1 = 100.0 + spinningBody.k2 = 100.0 + spinningBody.c1 = 50.0 + spinningBody.c2 = 50.0 + spinningBody.theta1Init = 30 * macros.D2R + spinningBody.theta2Init = 30 * macros.D2R + spinningBody.theta1DotInit = 0.0 * macros.D2R + spinningBody.theta2DotInit = 0.0 * macros.D2R + elif numberPanels == 2: + # Define the properties of the panels (rectangular cuboids) + mass = 20 + length = 2 * diameter + width = diameter + thickness = 0.1 + + # Define the module's properties from the panels + spinningBody.mass1 = mass + spinningBody.mass2 = mass + spinningBody.IS1PntSc1_S1 = [[mass / 12 * (length ** 2 + thickness ** 2), 0.0, 0.0], + [0.0, mass / 12 * (thickness ** 2 + width ** 2), 0.0], + [0.0, 0.0, mass / 12 * (length ** 2 + width ** 2)]] + spinningBody.IS2PntSc2_S2 = [[mass / 12 * (length ** 2 + thickness ** 2), 0.0, 0.0], + [0.0, mass / 12 * (thickness ** 2 + width ** 2), 0.0], + [0.0, 0.0, mass / 12 * (length ** 2 + width ** 2)]] + spinningBody.dcm_S10B = [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]] + spinningBody.dcm_S20S1 = [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]] + spinningBody.r_Sc1S1_S1 = [[0.0], [length / 2], [0.0]] + spinningBody.r_Sc2S2_S2 = [[-width / 2], [0.0], [0.0]] + spinningBody.r_S1B_B = [[0.0], [diameter / 2], [height / 2 - thickness / 2]] + spinningBody.r_S2S1_S1 = [[- width / 2], [length / 2], [0.0]] + spinningBody.s1Hat_S1 = [[1], [0], [0]] + spinningBody.s2Hat_S2 = [[0], [1], [0]] + spinningBody.k1 = 50.0 + spinningBody.k2 = 50.0 + spinningBody.c1 = 30.0 + spinningBody.c2 = 30.0 + spinningBody.theta1Init = 60.0 * macros.D2R + spinningBody.theta2Init = 60.0 * macros.D2R + spinningBody.theta1DotInit = 0.0 * macros.D2R + spinningBody.theta2DotInit = 0.0 * macros.D2R + else: + print("Cannot simulate " + str(numberPanels) + " panels.") + return + + # Add spinning body to spacecraft + scObject.addStateEffector(spinningBody) + + # Add Earth gravity to the simulation + gravFactory = simIncludeGravBody.gravBodyFactory() + gravBodies = gravFactory.createBodies(['earth', 'sun']) + gravBodies['earth'].isCentralBody = True + scObject.gravField.gravBodies = spacecraft.GravBodyVector(list(gravFactory.gravBodies.values())) + timeInitString = "2012 MAY 1 00:28:30.0" + gravFactory.createSpiceInterface(bskPath +'/supportData/EphemerisData/', + timeInitString, + epochInMsg=True) + gravFactory.spiceObject.zeroBase = 'earth' + + # Add modules to simulation process + scSim.AddModelToTask(simTaskName, scObject) + scSim.AddModelToTask(simTaskName, spinningBody) + scSim.AddModelToTask(simTaskName, gravFactory.spiceObject) + + # Set up the message recorders and add them to the task + datLog = scObject.scStateOutMsg.recorder() + theta1Data = spinningBody.spinningBodyOutMsgs[0].recorder() + theta2Data = spinningBody.spinningBodyOutMsgs[1].recorder() + scSim.AddModelToTask(simTaskName, datLog) + scSim.AddModelToTask(simTaskName, theta1Data) + scSim.AddModelToTask(simTaskName, theta2Data) + + # + # Set up Vizard visualization + # + scBodyList = [scObject] + if numberPanels == 1: + scBodyList.append(["panel", spinningBody.spinningBodyConfigLogOutMsgs[1]]) + else: + scBodyList.append(["panel1", spinningBody.spinningBodyConfigLogOutMsgs[0]]) + scBodyList.append(["panel2", spinningBody.spinningBodyConfigLogOutMsgs[1]]) + + viz = vizSupport.enableUnityVisualization(scSim, simTaskName, scBodyList + # , saveFile=fileName + str(numberPanels) + ) + + vizSupport.createCustomModel(viz + , simBodiesToModify=[scObject.ModelTag] + , modelPath="CYLINDER" + , scale=[diameter, diameter, height / 2] + , color=vizSupport.toRGBA255("blue")) + if numberPanels == 1: + vizSupport.createCustomModel(viz + , simBodiesToModify=["panel"] + , modelPath="CYLINDER" + , scale=[2 * radius, 2 * radius, thickness] + , color=vizSupport.toRGBA255("green")) + elif numberPanels == 2: + vizSupport.createCustomModel(viz + , simBodiesToModify=["panel1"] + , modelPath="CUBE" + , scale=[width, length, thickness] + , color=vizSupport.toRGBA255("green")) + vizSupport.createCustomModel(viz + , simBodiesToModify=["panel2"] + , modelPath="CUBE" + , scale=[width, length, thickness] + , color=vizSupport.toRGBA255("green")) + viz.settings.orbitLinesOn = -1 + + # Initialize the simulation + scSim.InitializeSimulation() + + # Configure a simulation stop time and execute the simulation run + simulationTime = macros.min2nano(1) + scSim.ConfigureStopTime(simulationTime) + scSim.ExecuteSimulation() + scSim.ShowExecutionOrder() + + # Retrieve the logged data + theta1 = theta1Data.theta + theta1Dot = theta1Data.thetaDot + theta2 = theta2Data.theta + theta2Dot = theta2Data.thetaDot + + # + # plot the results + # + figureList = {} + + plt.close("all") # clears out plots from earlier test runs + plt.figure(1) + plt.clf() + plt.plot(theta1Data.times() * macros.NANO2SEC, macros.R2D * theta1, label=r'$\theta_1$') + plt.plot(theta2Data.times() * macros.NANO2SEC, macros.R2D * theta2, label=r'$\theta_2$') + plt.legend() + plt.xlabel('time [s]') + plt.ylabel(r'$\theta$ [deg]') + pltName = fileName + "theta" + str(int(numberPanels)) + figureList[pltName] = plt.figure(1) + + plt.figure(2) + plt.clf() + plt.plot(theta1Data.times() * macros.NANO2SEC, macros.R2D * theta1Dot, label=r'$\dot{\theta}_1$') + plt.plot(theta1Data.times() * macros.NANO2SEC, macros.R2D * theta2Dot, label=r'$\dot{\theta}_2$') + plt.legend() + plt.xlabel('time [s]') + plt.ylabel(r'$\dot{\theta}$ [deg/s]') + pltName = fileName + "thetaDot" + str(int(numberPanels)) + figureList[pltName] = plt.figure(2) + + if show_plots: + plt.show() + + # close the plots being saved off to avoid over-writing old and new figures + plt.close("all") + + return figureList + + +# +# This statement below ensures that the unit test scrip can be run as a +# stand-along python script +# +if __name__ == "__main__": + run( + True, # show_plots + 2, # numberPanels + ) From 062c61de949000a176a11553de1213e4f913d341 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joa=CC=83o=20Vaz=20Carneiro?= Date: Sun, 30 Jul 2023 13:30:23 +0100 Subject: [PATCH 2/4] Add associated test file. --- .../test_scenarioSpinningBodiesTwoDOF.py | 81 +++++++++++++++++++ 1 file changed, 81 insertions(+) create mode 100644 src/tests/test_scenarioSpinningBodiesTwoDOF.py diff --git a/src/tests/test_scenarioSpinningBodiesTwoDOF.py b/src/tests/test_scenarioSpinningBodiesTwoDOF.py new file mode 100644 index 0000000000..fe1ae5ae0f --- /dev/null +++ b/src/tests/test_scenarioSpinningBodiesTwoDOF.py @@ -0,0 +1,81 @@ +# +# ISC License +# +# Copyright (c) 2023, Autonomous Vehicle Systems Lab, University of Colorado at Boulder +# +# Permission to use, copy, modify, and/or distribute this software for any +# purpose with or without fee is hereby granted, provided that the above +# copyright notice and this permission notice appear in all copies. +# +# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES +# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF +# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR +# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES +# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN +# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF +# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. +# + + +# +# Basilisk Scenario Script and Integrated Test +# +# Purpose: Integrated test of the spinningBodies2DOF() modules. Illustrates a few differenct configurations of a +# spacecraft with a rigid hub and a 2-DOF effector attached. +# Author: João Vaz Carneiro +# Creation Date: Jul. 30, 2023 +# + + +import inspect +import os +import sys + +import pytest +from Basilisk.utilities import unitTestSupport + +# Get current file path +filename = inspect.getframeinfo(inspect.currentframe()).filename +path = os.path.dirname(os.path.abspath(filename)) + +sys.path.append(path + '/../../examples') +import scenarioSpinningBodiesTwoDOF + + +# uncomment this line is this test is to be skipped in the global unit test run, adjust message as needed +# @pytest.mark.skipif(conditionstring) +# uncomment this line if this test has an expected failure, adjust message as needed +# @pytest.mark.xfail(True) + +# The following 'parametrize' function decorator provides the parameters and expected results for each +# of the multiple test runs for this test. +@pytest.mark.parametrize("numberPanels", [1, 2]) +@pytest.mark.scenarioTest + +def test_bskAttitudeFeedbackRW(show_plots, numberPanels): + '''This function is called by the py.test environment.''' + # each test method requires a single assert method to be called + + testFailCount = 0 # zero unit test result counter + testMessages = [] # create empty array to store test log messages + + try: + figureList = scenarioSpinningBodiesTwoDOF.run(show_plots, numberPanels) + # save the figures to the Doxygen scenario images folder + for pltName, plt in list(figureList.items()): + unitTestSupport.saveScenarioFigure(pltName, plt, path) + + except OSError as err: + testFailCount += 1 + testMessages.append("scenarioSpinningBodiesTwoDOF test are failed.") + + # print out success message if no error were found + if testFailCount == 0: + print("PASSED ") + else: + print(testFailCount) + print(testMessages) + + # each test method requires a single assert method to be called + # this check below just makes sure no sub-test failures were found + assert testFailCount < 1, testMessages \ No newline at end of file From b1a3a1012f85a3151462f9b6335ee04c27157ec1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joa=CC=83o=20Vaz=20Carneiro?= Date: Sun, 30 Jul 2023 13:38:53 +0100 Subject: [PATCH 3/4] Add release notes. --- docs/source/Support/bskReleaseNotes.rst | 2 ++ 1 file changed, 2 insertions(+) diff --git a/docs/source/Support/bskReleaseNotes.rst b/docs/source/Support/bskReleaseNotes.rst index 2e3da84121..77160b9fa4 100644 --- a/docs/source/Support/bskReleaseNotes.rst +++ b/docs/source/Support/bskReleaseNotes.rst @@ -36,6 +36,8 @@ Version |release| - Created a new :ref:`pinholeCamera` module to support generation of landmarks-based measurements around a small body. - A new integrated example script :ref:`scenarioSmallBodyLandmarks` demonstrates the use of the pinhole camera module +- Created a new example scenario :ref:`scenarioSpinningBodiesTwoDOF` that showcases the different capabilities of the + :ref:`spinningBodyTwoDOFStateEffector` module. Version 2.2.0 (June 28, 2023) From 31ca7a422b385fcd50f94b803f3d0ecc74fb62f0 Mon Sep 17 00:00:00 2001 From: Hanspeter Schaub Date: Tue, 1 Aug 2023 12:03:36 -0600 Subject: [PATCH 4/4] Add the scenario to the web page with example scripts. --- examples/_default.rst | 1 + 1 file changed, 1 insertion(+) diff --git a/examples/_default.rst b/examples/_default.rst index 75583cfb87..1e3006080a 100644 --- a/examples/_default.rst +++ b/examples/_default.rst @@ -204,6 +204,7 @@ Complex Spacecraft Dynamics Simulations Sensors Attached to a Rotating Panel Hinged Panel Deployment MSM Simulation of Charged Spacecraft + Spacecraft with 1- or 2-DOF Panel using single effector Mission Simulations ---------------------------------------