Path: SCPro/DynamicalModels
% Right hand side for a n bodies attached to a central hub.
Each of the appendages has one degree of rotational freedom connected
to the hub.
The axis of rotation for each appendage is defined by u in the data
structure.
Type d = RHSNBodyCentralHub to get a default data structure for a
single appendage.
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Form:
[xDot, h] = RHSNBodyCentralHub( x, t, g )
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Inputs
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x (7+2n,1) [q;omega0;theta1;...;omega1...]
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
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Outputs
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xDot (7+2n,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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Reference: Spacecraft Attitude and Orbit Control, "Multibody Dynamics",
PSS. In Vol. 2, Special Topics, 3rd edition.
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AerospaceUtils: Coord/QIToBDot Common: Quaternion/QTForm Common: Transform/AU2M Math: Linear/Skew
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