ConstraintForceAndTorque:

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.

--------------------------------------------------------------------------
   Form:
   varargout = ConstraintForceAndTorque( action, varargin )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   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 

   -------
   Outputs
   -------
   'initialize'
   x                (13*n,1) State vector
   'update'
   fC               (3,n)    Constraint forces in ECI frame
   tC               (3,n)    Constraint torques in ECI frame

--------------------------------------------------------------------------

Children:

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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