Path: SC/Dynamics
% Model for a spacecraft with a roll pivot.
The wheel spins about the -y axis in the pivot frame. The wheel is forced
to be symmetric so that we do not have to account for a wheel angle.
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Form:
[xDot, h1, inr, p] = SCWithRollPivot( x, t, d, action )
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Inputs
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x (10,1) State vector [q;theta,w,wP,wW]
d (:,:) .scInertia (3,3) Spacecraft inertia
.bWheelAlignment (3,3) Wheel alignment
.pivotInertia (3,3) Pivot inertia
.wheelInertia (1,2) [ Wheel polar inertia, transverse inertia]
.commandedPivotAngle (1,1) Commanded angle
.pivotRateGain (1,1) Pivot rate gain
.pivotAngleGain (1,1) Pivot angle gain
.torque (3,1) Torque on the spacecraft
.torqueWheel (1,1) Torque on the wheel
action (1,:) Any input returns h
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Outputs
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xDot (10,1) State vector derivative [theta,w(3,1),wP,wW] or body
angular momentum
h (3,1) Angular momentum in the body frame
iner (5,5) Generalized inertia matrix
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AerospaceUtils: Coord/QIToBDot Common: Control/C2DZOH Math: Linear/Skew Math: Linear/SkewSymm
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