Path: SCPro/DynamicalModels
% Right hand side for n bodies and a central hub with reaction wheels.
Each of the appendages has three degrees of rotational freedom connected
to the hub. The spacecraft also has m reaction wheels that have only
a polar moment of inertia. The center-of-mass is assumed not to move.
If nB is set to 1, you will get a gyrostat model. Body 1 is the core.
Type d = RHSGyroNBody to get a default data structure for a
one appendage, 3 orthogonal reaction wheel spacecraft.
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Form:
g = RHSGyroNBody;
[xDot, h, gInr, rhs] = RHSGyroNBody( x, t, g )
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Inputs
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x (7+7n+m,1)[q1;q2;q3;omega1;omega2;omega3;omegaW1;omegaW2;omegaW3]
t (1,1) Time - unused
g (1,1) Data structure
.inr {n+1} n+1 3x3 inertia matrices
.m (1,n+1) Masses
.lambda (3,n+1) Location of the body hinge
.u (3,n+1) Body n hinge unit vector
.rho (3,n+1) Location of body center of mass
.torque (3,n+1) Torques
.nB (1,1) Number of appendages. [] if to be
determined by the size of rho
.x0 (24,1) Default state vector
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Outputs
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xDot (7+7n+m,1) State derivative
h (3,1) Angular momentum in the inertial frame
gInr (:,:) Generalized inertia
rhs (3+n,1) Right hand side of the dynamical equations
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AerospaceUtils: Coord/QIToBDot Common: Quaternion/Q2Mat Common: Quaternion/QTForm Math: Linear/Skew
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