WireC:

Path: SC/Dynamics

% The right hand side of the wire equations formulated using Lagrange multipliers

                                    2    2
   The equations of motion are   M d x/dt  = Q
   The constraints are                phi  = 0

	If nIts > 0 it will use the iterative formulation.
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   Form:
   xDot = WireC( x, t, s, mu, torque, force, penalty )
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   ------
   Inputs
   ------
   x              (m,1)     The state vector
                            [x;v;q;w;xWire;vWire]
   t              (1,1)     Time
   s              (:)       Wire data structure
   mu             (1,1)     Earth's gravitational constant
   torque         (3,1)     External torque on core
   force          (3,1)     External force on core
   penalty        (:)       enalty function scalars [.alpha, .mu, .omega, .nIts]
   nIts           (1,1)     Number of iterations

   -------
   Outputs
   -------
   xDot         (:,1)       The derivative of the state vector

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   Reference: Jalon, J.G., E. Bayo, "Kinematic and Dynamic Simulation of 
              Multibody Systems, The Real-Time Challenge," Springer-Verlag,
              1993, pp. 164-170.
--------------------------------------------------------------------------

Children:

AerospaceUtils: Coord/QIToBDot
Common: Quaternion/QForm
Math: Linear/Cross
Math: Linear/Mag
Math: Linear/SkewSq
Math: Linear/SkewSymm
Math: Linear/Unit

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