Solutions

=iE=nE=f¥E
Problem Sheet 9
-

•
Exercise 9.1

. the (* , g. 7) reference frame is body -

axis

the
spacecraft locked to it

it
as is

.
°o°
# = Iii = Izie

Baff .
€

>
>
Y .
Euler 's
equations are

a~•qpg
y
<
× '
Into + iixIw→=M
"

Izee +
HIM :# it

in
components Mx

|o
.
0 to =

+ o =
My
Iz it to = Mz
but i=h= const absence of perturbations it
My ,My,Mz=o In the .
is

not to maintain its altitude

required to
apply control torques to the Slc
 Exercise

yen
Is
.

9.2

. the ( x , y , -2) reference frame is not body axis

-

the spacecraft locked to it

it
I±yq
as is not

°
Due to SK symmetry the mass distribution
does not change when the SK rotates about
the cylinder axis .
thus
,
in (* , y , the

NBD a
E

>
>
Y
moment of inertia matrix

diagonal ( due to symmetry)

is constant and

a~•qpg
y

⇐
(

Fi
x

•
If The satellite spins about × axis
,
then we need to distinguish between
the angular velocity of the Cx,%£) reference frame Of and that of the
,

space craft WB .

The
494¥ '
velocity of the frame !
WE = EE
,
WE =
+ gzn
Its
wI×IwJ + =

IWJ =
Ixcjxn +
 Ixcix + Izite +
www..tt
HE
°O° =
if =o 0 + 0 = Mx
"

=I×ny
0 + Ixi if =
My My
-
0 + 0 = 0

direction to steer the angular momentum

We need a
torque in
y

For example
thrusters providing two on the faces of the cylinder
torque
a
Ixilf FE =

off

***
↳ Fe

F
.
.
Exercise 9.3

the inertia
) frame frame of of the
(x , y ,z is a
principal axes as

locked to it and the moment of inertia matrix

spacecraft is is

diagonal doe to symmetry .

off =
Tis =
( o
,
o
,
n
)
IIs
Itis Iwciiw
-
-
+ = Iz n E + I www.I

Eder 's equations

Its

It's
↳ t iisx -

-
TT

→ IIs = Iz in I + Iwuiwx =
Ot o as w and are constant
Ww

=/!
%) III
iisx
)
! Ii -

Iwwwnyi

thus )
a in
components reads

{
O t O = Mx

o t Iwwwn =
My A
Torque in
y direction is
required to steer
O to = Mz the wheel angular momentum
.
Exercise 9.4

w→s =
( Wx , Wy ,
Wz )

's
Tt = I ius + Iw Ww I =
( Ix Wx
,
Iywy , Iz wet Iw Ww )
Euler 's equations

we
Ww
are

its + ivsx It's =D

Its =

(Ix in Iyioy Izuiz

, ,
t Iw Ww
)

LIE
.fm?IfEI!wwIz+zwww)--(fIz-Iy)wywz+Iwwwwy
HT
II
hi
'

× =

,
, (Ix -

) wzwx
Iz -

Iwwxwy,

+
( Iy -

)
Ix Wx
Wy )
In components

{
Ix wi t (Iz -

Iy ) wzwy t Iw Ww Wy = NX

Iyivy ( Ix Iz) Iw Wx Ny
LIwywx
t wz =
-
-

Izivz t Iwivw +
y )- Ix = NZ
IE
Ix wi t (Iz -

Iy ) wzwy + Iw Ww Wy = NX

.
IE: www.EAE-m
Extract the pitch equation (3rd equation )
Iz wz t Iw Wow t
(Iy -
Ix ) Wx
Wy = NZ

o
in =
o O
wz =
h t S wz 0
y

Wx

Wy
=

=
Swx
S
WY
Iz # t Sivz) t Iw Ww t ( Iy -

)
Ix
Moy = Nz

Iz g wz + Iwivw = NZ

S wz = & =D Iz °O° + Iw Ww = Nz

if cow =
Kp O + Kb & Iz °O° t KDE t k
por = Nz
-

DAMPED HARMONIC OSCILLATOR

→
Angular frequency PE Iz

ratio
→
Damping E Kis
=

2 FEI
 •
Problem 9.5

.
µ , y, g) frame is not body -

axis
.
as

the wheel is notlockedtoit

:É÷÷
•
However the mass distribution is
,
constant in the ( x , y , 2) frame due
to the wheel
. symmetry .

• the wheel angular velocity and

angular momentum are

ñiw ( É Ww )
¥
=
o
, ,

III. = I ñiw =

( 0
, Iy 5 ,
Izww
)
the angular velocity of the Gc y 2) frame is
wfÉ the
•

as
, ,

frame is
rotating only about y axis .

•
the equations of motion for the wheel are

¥ w + w→f ✗ H→w=Ñ°
P of the reference frame ! !
?⃝
TIE
e.
( o Iyj , Izivw ) =
(0,0, ) o as I ,ww= const

xEi=t:;°
,

:{ HEWETT
.

.
thus the equations of motion are

0 + Izww 8 = Mx

0 + 0 =
My In order to maintain the motion the
support must provide Mx = Izwws
0 + 0
=
Mz

If the wheel is mounted on a spacecraft -

Mx is the
Torque provided
by the wheel to the spacecraft ( action / reaction principle) for the given
motion
assigned ( obtained by servomotors
)
 •
Problem 9.6

the magnitude of the angular momentum for the two wheels is

.

Hcna
Icmawcma

.ti
o.i?It?o:oI;¥t
Fiona
* ssnseHEi
;sMHti I=ItdcwinaknYatseIEsEs:nEl:It:=l Bsi
= =
Const

•
In body the of the

:tpIgI÷;;f=kIII
- axis
angular momentum Cma assembly is

III goi;]
B=Hcma[ ng
B
with

.at :
" "

:
:ni
messy
"
.

siutsz + COSZSL
in
s
 °
( ]
z Cos Ss cos Sz 2

.IS#s.KasIY tEa.B*=CBt TBt=Ia. oaiK.joIYs fIin sinIs:t=

BTB =
# Ma
ass , ass . z

• DET ( BTB) = 1- cos Sz cos Sz

CBTBT
s
• =

Costa

)
cosss crosses
Sin 81

(
-
cosszcosszsinsz -

=
1

( ) Homa 1 -
6525165252 cossscosszsihss -
Sihsz cos Sz -
6s2Sz Cossey

For a
given tie Si =B* tie .
A singularity occurs when 81--52=0

1 to that when it is

not
as This means Ss=Sz=o
goes a .

Hcma ( 1 WSZSICOSZSZ )

direction
when
-

possible to find the rates Is ,£z that produce an

arbitrary control torque (indeed ,

81-52=0 the
control torque is only along the z ! )