Path: SCPro/DynamicalModels
% Computes the constraint forces and torques.
It computes the separation forces and torques needed to keep
the relative velocity between the first vehicle and the rest zero.
Type ConstraintForceAndTorque for a simulation of two attached
spacecraft.
The 2nd spacecraft should rotate around the first one.
Note that for all arrays body 0 is the first column or element except
for lambda and kappa where the columns correspond to the hinge vectors.
hinge 1 is between body 0 and body 1, hinge 2 is between body 0 and
body 2, etc.
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Form:
varargout = ConstraintForceAndTorque( action, varargin )
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Inputs
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action (1,:) 'initialize' or 'update'
'initialize'
xA (13,1) Aggregate vehicle state
e ( 3,:) Positions of individual body cms in 0
d (1, 1) Data structure
'update'
x (13*n,1) Vehicle state
d (1,1) Data structure
.t (3,n) Disturbance torques in body k frame
.f (3,n) Disturbance forces in ECI frame (kN)
.inr {n} Inertia matrix in body k frame
.m (n) Mass (kg)
.mu (1,1) Gravitational parameter
.lambda (:,n-1) Vectors from hinge to cm in k frame
.kappa (:,n-1) Vectors from body 0 cm to hinges
.b {n } Transformation matrix from k to 1
.e0 (3,1) Location of body 0 cm
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Outputs
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'initialize'
x (13*n,1) State vector
'update'
fC (3,n) Constraint forces in ECI frame
tC (3,n) Constraint torques in ECI frame
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AC: ACData/ACTConstants AerospaceUtils: Coord/QIToBDot SC: BasicOrbit/Period SC: SCData/sCTConstants SCPro: DynamicalModels/RHSNSpacecraft Common: CommonData/Constants Common: CommonData/SwooshWatermark Common: CommonData/xSplashSmall Common: Control/C2DZOH Common: Database/Constant Common: General/CellToMat Common: General/DeleteCell Common: General/MatToCell Common: General/Watermark Common: Graphics/NewFig Common: Graphics/Plot2D Common: Graphics/PltStyle Common: Graphics/TimeLabl Common: Quaternion/Mat2Q Common: Quaternion/Q2Mat Common: Quaternion/QForm Common: Quaternion/QTForm Math: Integration/RK4 Math: Linear/Cross Math: Linear/DupVect Math: Linear/Mag Math: Linear/Skew Math: Linear/SkewSq Math: Linear/SkewSymm
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