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N C N
T
N C N C C N
T T T
The inertial components of N 2 are given by the second row of C or the second
T
or the third column of C C . Hence, we can express the inertial components of the
angular velocity vector in matrix-vector form as
1 1 0 S2 1
2 0 C1 S1C2 2 "Inertial Components" (1)
0 S C1C2 3
3 1
We can use the same approach to determine an equation for the body-fixed
components, or we can simply use the results presented in Appendix II of Kane, Likins,
and Levinson, Spacecraft Dynamics, McGraw-Hill, 1983. Using those results,
1 C2C3 S3 0 1
2 C2 S3 C3 0 2 "Body-Fixed Components" (2)
S 0 1 3
3 2
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Partial Angular Velocities Using Angle Derivatives as Generalized Speeds
The partial angular velocities of B are the partial derivatives of R B with respect to
i (i 1,2,3) .
R B R B R B
N1 N 2 N3
1 2 3
1 0 S2
R B R B R B
1
B ,1 0
2
B , 2 C1
3
B ,3 S1C2
0 S CC
1 1 2
1 0 S2
B , 0 C1 S1C2 "Inertial Components" (3)
0 S1 C1C2
Using the same process, we can define the body-fixed components of the partial velocity
vectors as a single matrix as
C2C3 S3 0
B , C2 S3 C3 0 "Body-Fixed Components" (4)
S2 0 1
Note: We can define different forms of the partial angular velocity matrices associated
with each of the different orientation angle sets.
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Partial Angular Velocities Using Angular Velocity Components as Generalized
Speeds
It is obvious from the presentation below that this choice of generalized speeds
simplifies the partial angular velocity matrices.
Inertial Components
If we use the inertial components of R B as the generalized speeds, then the partial
angular velocities are
R B R B R B
N1 N2 N3
1 2 3
1 0 0
B , 0 1 0 "Inertial Components" (5)
0 0 1
Body-Fixed Components
If we use the body-fixed components of R B as the generalized speeds, then the partial
angular velocities are
R B R B R B
e1 e2 e3
1 2 3
1 0 0
B , 0 1 0 "Body-Fixed Components" (6)
0 0 1
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Angular Velocity and Partial Angular Velocity Using Euler Parameters
If we use Euler parameters to describe the angular motion of a rigid body B, then from
previous notes, we can write the inertial and body-fixed components of the angular
velocity as
{} 2[ E ]{ } "Inertial Components"
Recall that in this case, {} and { } are 4 1 vectors. The first three elements of the
vectors are the components of R B and the last element is zero.
From these equations, we could define a set of partial angular velocities associated with
the Euler parameters. These are not particularly useful, however, because the Euler
parameters are not independent. In this case, it is natural to use the angular velocity
components as the generalized speeds as discussed above.
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