# Copyright: Public domain. # Filename: AUTOMATIC_MANEUVERS.agc # Purpose: Part of the source code for Colossus 2A, AKA Comanche 055. # It is part of the source code for the Command Module's (CM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey <info@sandroid.org>. # Website: www.ibiblio.org/apollo. # Pages: 1025-1036 # Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the # same name, using Comanche055 page images. # # This source code has been transcribed or otherwise adapted from digitized # images of a hardcopy from the MIT Museum. The digitization was performed # by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many # thanks to both. The images (with suitable reduction in storage size and # consequent reduction in image quality as well) are available online at # www.ibiblio.org/apollo. If for some reason you find that the images are # illegible, contact me at info@sandroid.org about getting access to the # (much) higher-quality images which Paul actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 055 of AGC program Comanche by NASA # 2021113-051. 10:28 APR. 1, 1969 # # This AGC program shall also be referred to as # Colossus 2A
# Page 1025 BANK21 SETLOC DAPS3 BANK
COUNT21/DAPAM
EBANK= KMPAC
AHFNOROT EXTEND READ CHAN31 MASK BIT14 EXTEND BZMF FREECONT CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED MASK BIT14 CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER # AUTOMATIC CONTROL YET EXTEND READ CHAN31 MASK BIT13 EXTEND BZMF HOLDFUNC
AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG. EXTEND# OTHERWISE, GO TO ATTHOLD. BZMF ATTHOLD TCF GRABANG
# MINIMUM IMPULSE CONTROL
FREECONT CAF ONE TS HOLDFLAG # RESET HOLDFLAG # INHIBIT AUTOMATIC STEERING EXTEND READ CHAN32 TS L
COM MASK MANROT MASK CHANTEMP LXCH CHANTEMP TC STICKCHK INDEX RMANNDX CA MINTAU # MINTAU +0 TS TAU # +1 +14MS MINIMUM IMPULSE INDEX PMANNDX # +2 -14MS TIME CA MINTAU # +3 +0 TS TAU1 INDEX YMANNDX CA MINTAU # Page 1026 TS TAU2 TCF T6PROGM
MINTAU DEC0 DEC23# = 14MS DEC -23# = -14MS DEC0
# Page 1027 # CALCULATION OF ATTITUDE ERRORS- # - * - - - # AK = AMGB (CDUX - THETADX) + BIAS # # IE *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS * # * * * ** * * * # *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1* # * * * ** * * * # *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2* # # THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD # AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES. # BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN # FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
ATTHOLD CA CDUX EXTEND MSU THETADX TS ERRORX CA CDUY EXTEND MSU THETADY TS T5TEMP EXTEND MP AMGB1 ADS ERRORX CA T5TEMP EXTEND MP AMGB4 TS ERRORY CA T5TEMP EXTEND MP AMGB7 TS ERRORZ CA CDUZ EXTEND MSU THETADZ TS T5TEMP EXTEND MP AMGB5 ADS ERRORY CA T5TEMP EXTEND MP AMGB8 ADS ERRORZ CS HOLDFLAG EXTEND # Page 1028 BZMF JETS CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC ADS ERRORX CA BIAS1 ADS ERRORY CA BIAS2 ADS ERRORZ TCF JETS
CA RCSFLAGS MASK OCT16000 EXTEND# IS RATE DAMPING COMPLETED BZF ENDDAMP # IF SO, GO TO ENDDAMP CAF ZERO # OTHERWISE, ZERO ERRORS TS ERRORX TS ERRORY TS ERRORZ TCF JETS
ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0 EXTEND DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD DXCH THETADX # REFERENCES CA CDUZ TS THETADZ TCF ATTHOLD
# Page 1029 # JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS # # DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE # PLANE. # COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE # APPROPRIATE DEADZONE. # # . # R22 RATE . ERROR # WL+H . # ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES # R23 WL * . # ----------------------------------* . ----- DESIRED RATE LINES # R23 WL-H - *. # ****************** - . R20, R21, R22, ETC REGIONS IN PHASE # * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE # * . * # *- . * # R22 R24*- R23 . * # * . * # * . * # + -ADB . * AF ATTITUDE # ........................+--+---------------+--+........................ # AF * . +ADB + ERROR # * . * # * . -* # * . -* # * . -* # * . * # *. - * # . - ***************** # .* - # . * -------------------------------- # . * # . ******************************** # .
# Page 1030
SLOPE2 DEC .32# = 0.8 DEG/SEC/DEG $450/180
JETS CA ADB AD FOUR # AF = FLAT REGION = .044 DEG TS T5TEMP # ADB+AF CAF TWO
JLOOP TS SPNDX DOUBLE TS DPNDX EXTEND INDEX A DCA ADOT DXCH EDOT CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN EXTEND# ATTITUDE HOLD AND RATE DAMPING IS OVER. BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION # OF WBODY AND GO TO INHOLD EXTEND INDEX DPNDX
DCS WBODY DAS EDOT # = ADOT-WBODY
INHOLD INDEX SPNDX CA ERRORX TS AERR # AERR = BIAS + AK
# Page 1035 # COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE # # T = J/M(DELTA W) # J # # DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE # SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC. # # J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY # (57.3/450)(B24/1600)(1/.8) # FOR 1 JET OPERATION (M = 700 FT-LB). # IE J/M = J(SLUG-FTFT) x 0.00000085601606 # # THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY # KEYBOARD ENTRY ARE # J/M (ROLL) # J/M1 (PITCH) # J/M2 (YAW) # # T = JET-ON TIME SCALED 16384/1600 SEC # J # # THE COMPUTER VARIABLES ARE # TAU (ROLL) # TAU1 (PITCH) # TAU2 (YAW)
JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO CA J/M # SCALED (57.3/450)(B24/1600) TC SMALLMP # FOR 1-JET OPERATION CA BIT11 TC SMALLMP CCS KMPAC TCF +4 TCF TAUNORM TCF +4 TCF TAUNORM CA POSMAX TCF DOJET CA NEGMAX TCF DOJET
TAUNORM CA KMPAC +1
DOJET INDEX SPNDX TS TAU CCS SPNDX TCF JLOOP TCF T6PROG
# Page 1036
ZEROCMDS CAF ZERO TS TAU TS TAU1 TS TAU2
T6PROG EXTEND# WHEN THE ROTATION COMMANDS (TAUS) DCA JETADDR # HAVE BEEN DETERMINED DXCH T5LOC # RESET T5LOC FOR PHASE3 TCF RESUME
EBANK= KMPAC
JETADDR 2CADR JETSLECT
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