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The PID control is applied to the vessel's rotational velocity '''at the command point'''. This means that large rockets that tend to wobble out of control during flight do so because the SAS sees the tip (where the command module usually is) rotating and assumes the entire vessel is spinning this fast. For this reason, "wobble" can be largely eliminated by controlling the vessel as close to the CG as possible. This can be accomplished by placing a [[command module]] or [[docking port]] in the middle of the rocket. Right click the unit and select "Control From Here" to change the control point. If you end up controlling the "dead" end of the rocket after stage separation, simply press the "[" or "]" keys to select the appropriate section. | The PID control is applied to the vessel's rotational velocity '''at the command point'''. This means that large rockets that tend to wobble out of control during flight do so because the SAS sees the tip (where the command module usually is) rotating and assumes the entire vessel is spinning this fast. For this reason, "wobble" can be largely eliminated by controlling the vessel as close to the CG as possible. This can be accomplished by placing a [[command module]] or [[docking port]] in the middle of the rocket. Right click the unit and select "Control From Here" to change the control point. If you end up controlling the "dead" end of the rocket after stage separation, simply press the "[" or "]" keys to select the appropriate section. | ||
| − | == | + | == SAS搭載パーツ == |
| − | + | SASは3つの専用モジュールと全ての司令モジュールに搭載されている。 | |
===SAS専用モジュール=== | ===SAS専用モジュール=== | ||
{{Stats Table SAS}} | {{Stats Table SAS}} | ||
Revision as of 11:07, 5 October 2014
SAS(正式名称Stability Augmentation System 安定増加装置)はリアクションホイールのトルクなどを活用して宇宙船の回転を制御する自動飛行システムである。EAS-1 External Command Seat以外の全ての司令モジュールに標準装備されている。また独立したSAS専用モジュールもある。
バージョン 0.21以前はSASとASASで区別されており、旧ASASが現在のSASに、旧SASが現在のリアクションホイールに相当する。
効果
最低1つのSAS装置が装備されていれば、機体の回転を減衰させ特定の方向に姿勢を維持することができる。SASはプレイヤーの操縦に対しても以下の機体機能を活用して姿勢変更を補助する。:
- リアクションホイールが発生させるトルク
- エンジンの推力偏向
- 動翼
- RCS(作動中に限る)
It will first dampen the rotation and reaching a specific value and then will try to lock onto its current orientation. The user can override the current rotation for any axis. Since it controls heading, it can be extremely useful for lander missions. SAS自身は作動中も電力を消費しない。
パラシュート展開中はSASが作動していても、パラシュートの牽引力でSASの効果がかき消されることがあるので注意が必要である。
操作
SASの作動・停止はTキーで切り替えることが出来る。作動状態はnavball右上の青いランプの点灯で確認することが出来る。IVA操作が可能なコックピットでは作動状態モニター右上のSASランプの点灯で確認できる。
Theory
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The S.A.S. modules use a P.I.D. system, which stands for “Proportional, Integral, Derivative”. The PID is applied to the vessel's angular velocity, not its heading.
- Proportional means the S.A.S. module applies a turning-force that is proportional to the speed of rotation. In other words, the faster the ship is spinning, the harder the module tries to correct the spin.
- Integral means the S.A.S. module increases the corrective force the longer the ship is off-target. Since the integral of speed is position, this corrects the vessel's heading (angle is the integral of angular velocity). Since the summed integral value is set to zero when SAS is turned on, the controller will attempt to lock the vessel's heading to whatever it was when SAS was turned on.
- Derivative means the S.A.S. module takes the angular acceleration of the ship into account and tries to apply a force against it. So the faster the ship is going "into" the spin, the harder the S.A.S. module tries to stop it. This is supposed to dampen the action of the S.A.S module and prevent overshoot, as well as dampening any accelerating turn or roll.
The PID control is applied to the vessel's rotational velocity at the command point. This means that large rockets that tend to wobble out of control during flight do so because the SAS sees the tip (where the command module usually is) rotating and assumes the entire vessel is spinning this fast. For this reason, "wobble" can be largely eliminated by controlling the vessel as close to the CG as possible. This can be accomplished by placing a command module or docking port in the middle of the rocket. Right click the unit and select "Control From Here" to change the control point. If you end up controlling the "dead" end of the rocket after stage separation, simply press the "[" or "]" keys to select the appropriate section.
SAS搭載パーツ
SASは3つの専用モジュールと全ての司令モジュールに搭載されている。
SAS専用モジュール
| 画像 | パーツ名称 | サイズ | コスト (  ) |
質量 (t) |
耐熱温度 (K) |
衝撃耐性 (m/s) |
耐久 (加速度) (G) |
トルク (kN･m) |
消費電力 (⚡/s) |
|---|---|---|---|---|---|---|---|---|---|
 |
小型リアクションホイール | S | 600 | 0.05 | 2 000 | 9 | 50 | 5 | 0.25 (15 ⚡/分) |
 |
先進的インラインスタビライザー | M | 1 200 | 0.1 | 2 000 | 9 | 50 | 15 | 0.45 (27 ⚡/分) |
 |
先進的大型リアクションホイール | L | 2 100 | 0.2 | 2 000 | 9 | 50 | 30 | 0.6 (36 ⚡/分) |
司令モジュール
| 画像 | パーツ名称 | サイズ | コスト ( ) |
質量 (t) |
耐熱温度 (K) |
衝撃耐性 (m/s) |
耐久 (加速度) (G) |
トルク(kN･m) | S.A.S. level |
定員/ 消費電力 |
容量 (⚡  )
|
|---|---|---|---|---|---|---|---|---|---|---|---|
 |
Mk1 コックピット | M | 1 250 (1 241) |
1.28 (1.25) |
2 000 (1 100) |
40 | 50 | 10 |  [注意 1]
|
|
50 ⚡ 7.5 MP
|
 |
Mk1 インラインコックピット | M | 1 600 (1 591) |
1.03 (1.00) |
2 000 (1 100) |
40 | 50 | 10 | [注意 1]
|
|
50 ⚡ 7.5 MP
|
 |
Mk2 コックピット | Mk2 | 3 500 (3 482) |
2.06 (2.00) |
2 500 (1 400) |
45 | 50 | 15 | [注意 1]
|
+
|
150 ⚡ 15 MP
|
 |
Mk2 インラインコックピット | Mk2 | 3 500 (3 470) |
2.10 (2.00) |
2 500 (1 400) |
45 | 50 | 15 | [注意 1]
|
+
|
150 ⚡ 25 MP
|
 |
Mk3 コックピット | Mk3, M | 10 000 (9 880) |
3.90 (3.50) |
2 700 (1 500) |
50 | 50 | 40/40/20[注意 2] | [注意 1]
|
+
|
500 ⚡ 100 MP
|
 |
Mk1 コマンドポッド | M, S | 600 (588) |
0.84 (0.80) |
2 200 (1 200) |
14 | 50 | 5 | [注意 1]
|
|
50 ⚡ 10 MP
|
 |
Mk1-3 コマンドポッド | L, M | 3 800 (3 764) |
2.72 (2.60) |
2 400 (1 400) |
45 | 50 | 15 | [注意 1]
|
+
|
150 ⚡ 30 MP
|
 |
Mk1 ランダー缶 | M | 1 500 (1 482) |
0.66 (0.60) |
2 000 (1 000) |
8 | 50 | 3 | [注意 1]
|
|
50 ⚡ 15 MP
|
 |
Mk2 ランダー缶 | L | 3 250 (3 202) |
1.515 (1.355) |
2 000 (1 200) |
8 | 50 | 15 | [注意 1]
|
+
|
100 ⚡ 40 MP
|
 |
PPD-12 キューポラ | L, M | 3 200 (3 188) |
1.80 (1.76) |
2 000 (1 000) |
8 | 50 | 9 | [注意 1]
|
|
200 ⚡ 10 MP
|
 |
プロボドボダイン ローブメイト | M | 800 | 0.15 | 1 200 | 12 | 50 | — | 0 | 2.4 ⚡/分 (144 ⚡/時) |
120 ⚡ |
 |
プロボドボダイン QBE | S | 360 | 0.07 | 1 200 | 15 | 50 | — | 0 | 1.5 ⚡/分 (90 ⚡/時) |
5 ⚡ |
 |
プロボドボダイン HECS | S | 650 | 0.1 | 1 200 | 12 | 50 | 0.5 | 1 | 1.5 ⚡/分 (90 ⚡/時) |
10 ⚡ |
 |
プロボドボダイン OKTO | S | 450 | 0.1 | 1 200 | 12 | 50 | 0.3 | 0 | 1.2 ⚡/分 (72 ⚡/時) |
10 ⚡ |
 |
プロボドボダイン OKTO2 | S | 1 480 | 0.04 | 1 200 | 12 | 50 | — | 2 | 1.8 ⚡/分 (108 ⚡/時) |
5 ⚡ |
 |
プロボドボダイン HECS2 | M | 7 500 | 0.2 | 2 000 | 8 | 50 | 10 | 3 | 3.0 ⚡/分 (180 ⚡/時) |
1 000 ⚡ |
 |
RC-001S 遠隔誘導ユニット | M | 2 250 | 0.1 | 2 000 | 9 | 50 | 0.5 | 3 | 3.0 ⚡/分 (180 ⚡/時) |
15 ⚡ |
 |
RC-L01 遠隔誘導ユニット | L | 3 400 | 0.5 | 2 000 | 9 | 50 | 1.5 | 3 | 4.8 ⚡/分 (288 ⚡/時) |
30 ⚡ |
 |
MK2 ドローン コア | Mk2 | 2 700 | 0.2 | 2 500 | 20 | 50 | 15/3/3[注意 2] | 3 | 3.0 ⚡/分 (180 ⚡/時) |
250 ⚡ |
 |
MPO探査機 | M | 9 900 (9 854) |
0.895 (0.395) |
2 200 | 9 | 50 | 6 | 3 | 3.0 ⚡/分 (180 ⚡/時) |
1 000 ⚡ 45 LF55 O
|
 |
MTMステージ | M | 21 500 (6 300) |
0.795 (0.415) |
2 200 | 12 | 50 | 12 | 2 | 1.8 ⚡/分 (108 ⚡/時) |
4 000 ⚡ 3 800  XE
|
- ↑ 1.0 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 In the "Career" mode in manned command modules, the performance and functionality of the SAS is determined by the presence of at least one kerbonaut with the specialization "Pilot" and the level of his specialization. In the "Science" and "Sandbox" modes, a kerbonaut with any specialization can use all the functionality of the SAS on board the manned command module without restrictions.
- ↑ 2.0 2.1 トルクは3軸で異なります。それぞれピッチ/ヨー/ロールの数値です。
See also
- Updated Information on SAS in 0.21.1 blog entry by C7
