Path: SCPro/DynamicalModels
% Gyrostat right-hand-side.
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This has all of the parameters in a data structure. The states
field includes suggested state names for a gyrostat with 3 wheels. It
also includes a usable initial state assuming 3 wheels.
d.torque should include all external torques.
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Form:
d = RHSGyrostatNoFriction
xDot = RHSGyrostatNoFriction( x, ~, d )
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Inputs
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x (7+n,1) The state vector [q;omega;omegaWheel]
t (1,1) Time (s) (not used)
d (.) Data structure
.inr (3,3) Inertia (kg-m^2)
.torque (3,1) Torque in body frame (Nm)
.inrWheel (3,n) Wheel inertia (kg-m^2)
.uWheel (3,n) Wheel unit vectors
.torqueWheel (1,n) Wheel control torque (Nm)
.x0 (10,1) Suggested initial state (3 wheels)
.states {:} State names (names for 3 wheels)
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Outputs
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xDot (7+n,1) The derivative of the state vector
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AerospaceUtils: Coord/QIToBDot
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