Path: SC/Dynamics
% Gyrostat dynamics model which computes acceleration or plant matrices. Computes angular acceleration of a body with n wheels. Can also be used as a rigid body model by giving it only 4 inputs. Will return the linearized statespace model if 4 outputs are used. -------------------------------------------------------------------------- Form: [wdot,h] = GSModel(inr,inrinv,T,w,inrwheel,uwheel,Twheel,wwheel) [a,b,c,d,dwdt] = GSModel(inr,inrinv,T,w,inrwheel,uwheel,Twheel,wwheel,dT) -------------------------------------------------------------------------- ------ Inputs ------ inrinv (3,3) Inverse inertia matrix inr (3,3) Inertia matrix T (3,1) External torque on the body w (3,1) Body rate in the body frame inrwheel (n,1) Wheel inertia uwheel (3,n) Wheel orientation vector in the body frame Twheel (n,1) Torque on the wheel wwheel (n,1) Angular rate of the wheel dT Time step ------- Outputs ------- wdot (3+n,1) Acceleration h (3,1) Angular momentum in the body frame or a (3+n,3+n) State matrix b (3+n,3+n) Input matrix c (3+n,3+n) Output matrix d (3+n,3+n) Feedthrough matrix dwdt (3+n) State acceleration im (3+n,3+n) Generalized inertia matrix --------------------------------------------------------------------------
Common: Control/C2DZOH Math: Linear/Cross Math: Linear/SkewSymm
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