Path: SC/Attitude
% Computes the transfer matrix from gimbal rates to torques. t = a*[alphaDot(1);betaDot(1);...alphaDot(k);betaDot(k)] In the base frame the CMG momentum vector is [0;h;0] initialize u.h (n) Scalar momentum u.b {n}(3,3) Transforms from CMG base to body u.alpha (n) Inner gimbal angles (rad) u.beta (n) Outer gimbal angles (rad) -------------------------------------------------------------------------- Form: y = CMGAMatrix( u ) -------------------------------------------------------------------------- ------ Inputs ------ u (1,1) Data Structure ------- Outputs ------- y (3,:) Torque matrix --------------------------------------------------------------------------
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