Aerospace Astronautics

ARO309
- Astronau0cs and Spacecra6 Design

Winter 2013 Try Lam CalPoly Pomona Aerospace Engineering
Earth Orbiters
Pork Chop Plot
High Thrust Interplanetary Transfer
Low-Thrust Interplanetary Transfer
Low-Thrust Europa End Game
Orbit Stability
Stable for > 100 days
Enceladus Orbit
Juno
Other Missions
Other Missions
Lecture 01 and 02: Two-Body Dynamics: Conics

Chapter 2
Equa0ons of Mo0on
where r = R2 " R1
Equa0ons of Mo0on
Fundamental Equa0ons of Mo0on for 2-Body Mo0on
r =" 3r r
# #x& & x % ( % ( ( = " 3 % y ( ! r = " 3 r = %y r r % % ( z $ ' $z( '
" R =R where = G( M + m) and r 2 1

!
Conic Equa0on
From 2-body equation to conic equation
r =" 3r r
h2 / p r= = 1 + e cos" 1 + e cos "
h =r "v
!r " h = # 3 r " h r
Angular Momentum
Other Useful Equations
h =r "v
and
h = rv cos #
h v" = = (1 + e cos # ) r h
!
! !
!
v r = e sin " h
h2 / rp = 1+ e
vr e sin $ tan " = = v# 1 + e cos$
Energy
v2 " = K + P = # = constant 2 r
2 2 v2 / h p " = "p = # =# 1 # e2 ) ( 2 rp 2
NOTE: = 0 (parabolic), > 0 (escape), < 0 (capture: elliptical and circular)
Conics
p r= = 1 + e cos" 1 + e cos " a(1 # e 2 )
Circular Orbits
e = 0 and
" <0
h = rv
!
2 / h 2 "=# =# 2 2r
p h2 r= = p= 1 + 0" cos#
! v circular =
r
Tcircular 2"r r3 = = 2" r
Ellip0cal Orbits
0 < e < 1 and
" <0
Ellip0cal Orbits
p p r= # ra = 1 + e cos" 1$e since 2 a = rp + ra ! " ra = a(1 + e) ! and p rp = 1+ e p " a= 1 # e2
and
rp = a(1 # e)
NOTE : b = a 1 " e 2
2 / h 2 2 "=# 1#e ) = # ( 2 2a !
!
Telliptical
2"ab = = h
2"ab
a(1 # e 2 )
a3 = 2"
Ellip0cal Orbits
e= ra " rp ra + rp
h = a(1 " e 2 )
!v = h /r a a
and
v p = h / rp
!
!
vr e sin $ tan " = = v# 1 + e cos$
Parabolic Orbits
Parabolic orbits are borderline case between an open hyperbolic and a closed ellip0cal orbit
e = 1 and
" =0
!
!
v2 2 " = 0 = # $ v parabolic = = v escape 2 r r ! vr e sin $ 1 % sin $ tan " = = = v# 1 + e cos$ 1 + 1 % cos $
" parabolic = # /2
NOTE: as v 180, then r
Hyperbolic Orbits
e > 1 and
" >0
e2 $ 1 sin " # = e
$ 1' " = cos & ) % e(

#1
r="
a(1 " e 2 ) 1 + e cos#
" = a e2 # 1
Hyperbolic Orbits
"= 2a
Hyperbolic excess ! speed
v2 "= # = 2 r 2a
2 v" ! = = e sin # " = e $1 a h h

2 2 2 v =v + = v" + v escape r
2 2 "
2 2 v 2 v$ v$ " = # != # = 2 r 2 r$ 2
2 C3 = v "
Proper0es of Conics
0<e<1
Conic Proper0es
Vis-Viva Equa0on
v2 "= # =# 2 r 2a
#2 1& v = % " ( $ r a'
2
Vis-viva equation
Mean Mo0on
2" n= = T
a3
Perifocal Frame
natural frame for an orbit centered at the focus with x-axis to periapsis and z- axis toward the angular momentum vector
+y q r=x p
and
= h /h w
+ r sin " q r = r cos" p =x p q +y v =r sin " p cos " # r" v= r
( ) cos" ) q sin " + r" +( r
Perifocal Frame
FROM
THEN
! !
= v r = e sin " and r" = v# = (1 + e cos " ) r h h x = " sin # and y = (e + cos # ) h h =x p q +y v =r
+ (e + cos # ) q v = ( " sin # ) p h
]
( )
q p h =r" v= x y ! y x
w #y x w 0 = x y 0
and
#y x h= x y
Lagrange Coecients
Future es0mated state as a func0on of current state
+y q r=x p p q +y v=x
r f = 1 " 2 (1 " cos #$ ); h r r0 g= sin #$ ; h
Where
Solving unit vector based on initial conditions
r = f r0 + g v 0 r +g v0 v= f 0
% 1 " cos #$ ( + 1 1. f = ' * - 2 (1 " cos #$ ) " " 0 h & sin #$ ) , h r0 r / ! r0 = 1 " 2 (1 " cos #$ ) g h
h2 /
and
r=
# h2 & 1+ % % r " 1( ( cos )* $ 0 '
# h vr0 & "% ( sin )* $ '
r0 " v 0 vr0 = r0
Lagrange Coecients
Steps nding state at a future using Lagrange Coecients
1. Find r0 and v0 from the given posi0on and velocity vector 2. Find vr0 (last slide) 3. Find the constant angular momentum, h
2 h = r0v" 0 = r0 v 0 # v r20
4. Find r (last slide) 5. Find f, g, fdot, gdot 6. Find r and v
Lagrange Coecients
Example (from book)
Lagrange Coecients
Example (from book)
Lagrange Coecients
Example (from book)
Lagrange Coecients
Example (from book)
Since Vr0 is < 0 we know that S/C is approaching periapsis (so 180<<360)
ALSO
CR3BP
Circular Restricted Three Body Problem (CR3BP)
3 3 " = / r12 = GM / r12
M = m1 + m2 m1 #1 = m1 + m2 m2 #2 = m1 + m2
"1 = 1 # " 2
m1 x1 + m2 x 2 = 0 x1 + r12 = x 2
! x1 = "# 2 r12 x 2 = #1r12
CR3BP
Kinematics (LHS):
+ y r1 = ( x + " 2 r12 )i j + zk + y r2 = ( x # "1r12 )i j + zk + y r = xi j + zk
= F1 + F2 m r
= v inertialCM + " # r + v rel r # r + " # (" # r ) + 2" # v rel + arel =a inertialCM + " r where where +y i k v rel = x j+z +y i k arel = x j+ z
+ (y = (x " 2#y " # 2 x )i + 2#x " #2 y ) k r j + z
CR3BP
Kinematics (RHS):
= F1 + F2 m r
F1 = "
1m 3 r r1 1
and
F2 = "
2 m 3 r2 r2
1 2 ! 2 " 2#y " # x = " 3 ( x + $ 2 r12 ) " 3 ( x " $ 1r12 ) x r1 r2

+ 2#x " #2 y = " y
1 2 y " 3 3 y r1 r2 1 2 =" 3 z" 3 z z r1 r2
CR3BP
CR3BP Plots are in the rotating frame
Lyapunov Orbit DRO
Tadpole Orbit
Horseshoe Orbit
CR3BP: Equilibrium Points

Equilibrium points or Libration points or Lagrange points
= y = = x =y =z =0 x z
!
L4
1 2 "# x = " 3 ( x + $ 2 r12 ) " 3 ( x " $1r12 ) r1 r2 1 2 2 "# y = " 3 y " 3 y r1 r2 1 2 0=" 3z" 3 z z =0 r1 r2
2
L3
L1
L2
Jacobi Constant
!
L5
1 2 1 2 2 1 2 2 JC = v " # ( x + y ) " " 2 2 r1 r2
Orbit Posi0on as a Func0on of Time

Chapter 3
Lecture 03 and 04: Two-Body Dynamics:
Introduc0ons
Chapter 2 (Lec0on 1 and 2) relates posi0on as a func0on of (true anomaly) but not 0me Time was only introduced when referring to orbit period Here we acempt to nd the rela0ons between posi0on of the S/C and 0me Kepler s Equa4on
Time versus True Anomaly

Recall from Chapter 2
h v" = = r# r
Since
therefore
h=r #
2
d" h = 2 dt r
h2 / r= 1 + e cos"
Then
2 d" 2 3 dt = h 1 + e cos " ) ( !
Integrating from 0 (assuming tp = 0) to t and from 0 to
2 ! # d" 2 3 t = $ h 1 + e cos " ) 0 (

2 3 t = h
#
$
0
d" 2 (1 + e cos " )

Simple Case: Circular Orbits (e=0)
2 3 t = h
$
0
d" (1 + e cos " ) 2
2 If e = 0, then 3 t = ! h
$ d" = #
0
therefore
h3 t = 2"
then
Since for a circular orbit we have
r = h2 /
!
OR
! r t= "
3
FOR CIRCULAR ORBIT
" t= Tcir 2#

Elliptical Orbits (0<e<1)
2 3 t = h
$
0
d" (1 + e cos " ) 2
Then a = 1 and b = e, therefore we have b < a
!
2 3 t = h
#
$
0
, & 1%e ) e 1 % e 2 sin # / d" 1 # %1 . 1 = 2tan tan + % ( 2 3 / 2 2* 1 + e cos # 1 (1 + e cos " ) (1 % e 2 ) . ' 1+ e 0
Me = Mean anomaly for the ellipse

Elliptical Orbits (0<e<1) Therefore we have
* $ 1"e ' e 1 " e 2 sin # 3 / 2 2 # 2 "1 , / 1 " e t = M = 2tan tan ) " & ) e 3 ( h 2( 1 + e cos # / , % 1+ e + .
From the orbit period of an ellipse we know (or can derive) that
3 $ ' 2"ab 2" h a3 = = 2& ) = 2" 2 h % 1#e (
Tellipse
Therefore we can solve for me as function orbit period as
2" t !M e = T ellipse
OR
Me = n t
where n = mean motion = 2/Te

Elliptical Orbits (0<e<1) We need to fine out Me still ?
* $ 1"e ' e 1 " e 2 sin # # / M e = n t = ,2tan "1& tan ) " 2( 1 + e cos# / , % 1+ e + .

Let s introduce another variable E = eccentric anomaly
! a cos E = ae + r cos "
1 + e cos " e + cos " cos E = 1 + e cos "
= ae +
a(1 # e 2 )
cos"

e + cos " cos E = 1 + e cos "
OR
1 " e 2 sin # sin E = 1 + e cos #
This relates E and , but it leaves the quadrant of the solution unknown and you get two values of E for the equation. To eliminate this ambiguity we use the following identity
! sin ( E /2) (1 " cos E ) /2 1 " cos E 2 E tan = = = 2 2 cos ( E /2) (1 + cos E ) /2 1 + cos E
2
E 1 " e $1 " cos # ' 1 " e 2 # tan = tan & )= 2 1 + e % 1 + cos # ( 1 + e 2

2
Therefore
E 1"e # tan = tan 2 1+ e 2
or
$ 1"e #' E = 2tan & tan ) 2( % 1+ e

"1

Elliptical Orbits (0<e<1) We need to fine out Me still
* $ 1"e ' e 1 " e 2 sin # # / M e = n t = ,2tan "1& tan ) " 2( 1 + e cos# / , % 1+ e + .

E
e sin E
M e = E " e sin E !
This is Kepler s Equation

To nd t given
Given orbital parameters, nd e and h (assume = 0 deg)
h = rp (1 + e)
Find E:
E 1"e # tan = tan 2 1+ e 2
Find T (orbit period): !
Telliptical
3 $ ' a 2" h = 2" = 2& ) 2 % 1#e ( 3

To nd t given
Fine Me: Find t: !
M e = E " e sin E
Me t= Telliptical 2"
Question: What if you are going from a = a to = b? Answer: ! Find the time from = 0 to = a and the time from = 0 to = b. Then subtract the differences.

To nd given t
Given orbital parameters, nd e and h (assume = 0 deg Find T (orbit period): Telliptical Find Me: M e = 2" t / Telliptical
3 $ ' a 2" h = 2" = 2& ) 2 % 1#e ( 3
Find E using N! ewton s method (or a transcendental solver)
M e = E " e sin E

To nd given t
Using Newton s Method:
For Me < 180 deg For Me > 180 deg
Ini0alize E = Eo: Find f(E): Find f ! (E):
E 0 = M e + e /2
or
E 0 = M e " e /2
f ( E ) = E " e sin E " M e f / ( E ) = 1 " e cos E
/ ! E = E " f E / f ( i) (Ei) If abs( f(E) / f (E) ) > TOL, then repeat with i +1 i
Else Econverged ! = En

To nd given t
A6er nding the converged E, then nd
E 1"e # tan = tan 2 1+ e 2

Parabolic Orbits (e = 1)
2 3 t = h
$
0
d" (1 + e cos " ) 2
Then a = 1 and b = e, therefore we have b = a
!
2 3 t = h
#
$
0
d" 1 # 1 3# tan + tan = MP 2 = 2 (1 + e cos " ) 2 2 6

MP = Parabolic Mean Anomaly

Parabolic Orbits (e = 1) Thus given t or t we can find MP
2 MP = 3 t h
To fine we can find the root of the below equation
1# ! " & 1 " %tan ( + tan ) M P = 0 6$ 2' 2 2

Which has one real root
1/ 3 " 2 2 ! tan = 3 M P + 9 M P + 1 # 3 M P + 9 M P +1 2
STEPS: Find h Find MP Find
) (
#1/ 3

Hyperbolic Orbits (e > 1)
2 3 t = h
$
0
d" (1 + e cos " ) 2
Then a = 1 and b = e, therefore we have b > a
$ e + 1 + e " 1tan(# /2) ' 2 1 * e sin # 1 , " 2 ln& )/ 3 t = 2 h e "1 , e " 1 % e + 1 " e " 1tan(# /2) ( / +1 + e cos # .

Hyperbolic Orbits (e > 1) Where the Hyperbolic mean anomaly is
$ e + 1 + e " 1tan(# /2) ' e e 2 " 1sin # Mh = " ln& ) 1 + e cos # % e + 1 " e " 1tan(# /2) (
Thus we have
3/2 2 2 M h = 3 (e " 1) t h
Similar with Ellipse we will intro a new variable, F, the hyperbolic eccentric anomaly to help solve for the Mean Hyperbolic anomaly, Mh.

Hyperbolic Orbits (e > 1) Hyperbolic eccentric anomaly for the Hyperbola
sinh F = y / b
and
Since:
cosh F = x / a
sinh x = (e x " e " x ) /2 cosh x = (e x + e " x ) /2 y = r sin # r= a(e 2 " 1) 1 + e cos #
b = a e2 " 1

Hyperbolic Orbits (e > 1) We now have
e 2 " 1sin # sinh F = 1 + e cos #
Solving for F and since
sinh "1 x = ln x + x 2 + 1
we now have
Using the following trig identities for sine and cosine
$ e 2 " 1sin # + cos# + e ' ) F = ln& & ) 1 + e cos # % (

1 # tan 2 (" /2) cos" = 1 + tan 2 (" /2)
2tan(" /2) sin !" = 1 + tan 2 (" /2)
and

Hyperbolic Orbits (e > 1) We now have
$ e + 1 + e " 1tan(# /2) ' F = ln& ) % e + 1 " e " 1tan(# /2) (
Therefore we now have:
M h = e sinh F " F
This is Kepler s Equation for Hyperbola
Similar to Elliptical !orbits we can solve for F as a function of , which is found to be. Thus given we can find F, and Mh, and finally t.
F e "1 # tanh = tanh 2 e +1 2

Hyperbolic Orbits (e > 1) If time, t, was given and is to be found then we have to solve for Kepler s equation for hyperbola iteratively using Newton s method
STEPS TO FIND (given t) 3/2 2 2 Set ini0al F0 = Mh where M h = 3 (e " 1) t h Find f and f
f ( F ) = e sinh F " F " M h f / ( F ) = e cosh F " 1
! If abs( f / f ) > TOL, repeat steps with updated F ! Fi +1 = Fi " f ( Fi ) / f / ( Fi ) ! Else, Fconverged = Fi. Now nd " e +1 F tanh = tanh 2 e #1 2 !
Universal Variables
What happens if you don t know what type of orbit you are in? Why use 3 set of equa0ons? Kepler s equa0on can be wricen in terms of a universal variable or universal anomaly, , and Kepler s equa0on becomes the universal Kepler s equa4on.
r0v r 0 2 "t = # C ($# 2 ) + 1 % $ r0 # 3 S ($# 2 ) + r0 #
Where
" = 1/ a
If < 0, then orbit is hyperbolic If = 0, then orbit is parabolic If > 0, then orbit is elliptical
Universal Variables
Stump func0ons
or for z = 2
# z " sin z % % S ( z) = $ sinh "z " " z % 1/6 % &
)( ) ) ( "z )
z
( z > 0)
3
( z < 0) ( z = 0)
# 1 " cos z z % % C ( z) = $ cosh "z " 1 "z % 1/2 % &
) )
( z > 0) ( z < 0) ( z = 0)
Universal Variables
To use Newton s method we need to dene the following func0on and it s deriva0ve
r0v r 0 2 f ( ") = " C (#"2 ) + 1 $ # r0 "3 S (#"2 ) + r0 " $ %t
!
!
r0v r 0 f ( ") = " 1 # $" 2 S ($" 2 ) + 1 # $ r0 " 2 C ($" 2 ) + r0

/
] (
Iterate with the following algorithm

f ( ") "i +1 = "i # / f ( ")
with
"0 = # $t
Universal Variables
Rela0on ship between X and the orbits
% h tan(# /2) ' "=& aE ' $aF (
parabola ellipse hyperbola
For t0 = 0 at periapsis
% h tan(# /2) $ tan(# /2) 0 ' !" = & a(E $ E0) ' $ a ( F $ F0 ) (
parabola ellipse hyperbola
Universal Variables
Example 3.6 (Textbook: Cur0s s)
Find h and e
h = r0 (1 + e cos " 0 ) = 63135 1 + 0.866e v# 0 = h / r0 = 6.314 1 + 0.866e
e v r 0 = e sin " 0 = 3.16 h 1 + 0.866e

Since
2 v0 = v"2 0 + v r20
, then
2 " % e $ 3.16 ! ' + 6.314 1 + 0.866e # 1 + 0.866e &
= 10 2
e = 1.47
Universal Variables
Therefore
v r 0 = 3.075 km 2 / s
1 1 1 "= = 2 = = #5.09 E # 05 km #1 a h / #19,655 km !1 # e 2
"0 = # $t = 115.6
!
So X0 is the initial X to use for the Newton s method to find the converged X
Universal Variables
Universal Variables
Thus we accept the X value of X = 128.5
" = #a ( F # F0 )
where
F0 e "1 #0 tanh = tan = 0.1667 2 ! e +1 2

" F = 1.15
F0 = 0.23448 rad
" e +1 F tanh = tan = 1.193 2 e! #1 2
" = 100
Lagrange Coecients II
Recall Lagrange Coecients in terms of f and g coecients
r = f r0 + g v 0 r +g v0 v= f 0
From the universal anomaly X we can nd the f and g coecients
! # f =1" C ($# 2 ) r0 1 3 g = %t " # S ($# 2 )

2
= f
"#3 S ("#2 ) $ # r r0
#2 = 1 $ C ("#2 ) g r
Lagrange Coecients II
Where
r0 " v 0 vr0 = r0
and
2 1 2 v0 "= = # a r0
Steps nding state at a future using Lagrange Coecients

1. 2. 3. 4. 5. 6. 7. Find r0 and v0 from the given posi0on and velocity vector Find vr0 and Find X Find f and g Find r, where r = f r0 + g v0 Find fdot and gdot Find v
Lecture 05 and 06: Two-Body Dynamics: Orbits in 3D

Chapter 4
Introduc0ons
So far we have focus on the orbital mechanics of a spacecra6 in 2D. In this Chapter we will now move to 3D and express orbits using all 6 orbital elements
Geocentric Equatorial Frame
r = X2 +Y 2 + Z2
" = sin #1 ( Z / r)
% ( #1 X / r (Y / r > 0) * / / cos ' & cos" ) $ =. X /r ( /2+ # cos#1% ' * (Y / r , 0) / & cos" ) 0
Orbital Elements
Classical Orbital Elements are:
a = semi-major axis (or h or ) e = eccentricity i = inclina0on = longitude of ascending node = argument of periapsis = true anomaly
Orbital Elements
vr = r" v / r i j k h=r #v= X Y Z Vx Vy Vz i #h= 0 n=k hx j 0 hy k 1 hz
Orbital Elements
# hz & i = cos % ( $h'
"1
, $ ' #1 n x ( n y * 0) ) . . cos & ! %n( " =nx ' .2+ # cos#1$ & ) ( n y < 0) . %n( /
% ( #1 n$ e (ez + 0) * / / cos ' & ne ) " =. n$ e ( /2, # cos#1% ' * (ez < 0) / & ne ) 0
, 1 )# 2 & e = +% v " (r " rv r v . *$ r' -
! e = e/ e and
or
h 2 # 2 2 & e = 1 + 2 %v " ( $ r '
Orbital Elements
% 1 % h 2 (( % ( # 1 #1 e$ r / cos ' ' # 1** (v r + 0) cos ( v + 0) ' * / r / / & er ) & e & r )) " =. =. 2 % ( % % (( e $ r # 1 1 h /2, # cos ' / # 1 * (v r < 0) 2, # cos ' ' # 1** (v r < 0) / & er ) / 0 & e & r )) 0
Coordinate Transforma0on
Answers the ques0on of what are the parameters in another coordinate frame
y Q
Transformation (or direction cosine) matrix
y x
x z
"1 0 0 % $ ' T [Q] [Q] = [1] = $0 1 0' $ #0 0 1 ' &
Q is a orthogonal transformation matrix
[Q][Q] = [1]
Where
[ x '] = [Q][ x ] T x = Q [ ] [ ] [ x ']

/( i Q13 % " i ' $ / Q23 ' = $ j ( i /( i Q33 ' k & $ # /( i j/( /( k j j j % /( k i ' / j ( k' /( k ' k &
And
"Q11 Q12 $ [Q] =! $Q21 Q22 $ #Q31 Q32
Where is made up of rotations about the axis {a, b, or c} by the angle {d, e, and f}
[Q] = [Ra (" d )][ Rb (" e )] Rc (" f )

3rd rotation 2nd rotation
1st rotation
For example the Euler angle sequence for rotation is the 3-1-3 rotation
[Q] = [R3 (" )][R1 (#)][R3 ($ )]

(0 " # < 360) (0 " $ " 180) (0 " % < 360)
rd where you rotate (usually z-axis), then by !st by the angle along the 3 axis along the 1 axis, and then by along the 3rd axis.
[Q] 313
! & " sin # cos $ sin % + cos # cos % ( = (" sin # cos $ cos % " cos # sin % ( sin # sin $ '
cos # cos $ sin % + sin # cos % cos # cos $ cos % " sin # sin % " cos # sin $
sin $ sin % ) + sin $ cos % + cos $ + *
Thus, the angles can be found from elements of Q
Q31 tan " = #Q32
cos $ = Q33
Q13 tan % = Q23
Classic Euler Sequence from xyz to x y z
For example the Yaw-Pitch-Roll sequence for rotation is the 1-2-3 rotation
[Q] = [R1 (" )][R2 (#)][R3 ($ )]

(0 " # < 360) ($90 < % < 90) (0 " & < 360)
rd where you rotate (usually z-axis), then by !nd by the angle along the 3 axis along the 2 axis, and then by along the 1st axis.
[Q]123
& cos " cos # ( = (cos " sin # sin % $ sin " cos % ( 'cos " sin # cos % + sin " sin %
sin " cos # sin " sin # sin % + cos " cos % sin " sin # cos % $ cos " sin %
$ sin # ) + cos # sin % + cos # cos % + *
Thus, the angles can be found from elements of Q
Q12 tan " = Q11
sin # = $Q13
Q23 tan % = Q33
Yaw, Pitch, and Roll Sequence from xyz to x y z
Transforma0on between Geocentric Equatorial and Perifocal Frame

Transferring between pqw frame and xyz
{r} pqw
#cos" ' % h / % $ sin " ( = 1 + e cos" % % 0 & )

2
{v} pqw
# * sin " ' % % = $e + cos " ( h% % 0 & )
Transformation from geocentric equatorial to perifocal frame
! ( $) R (% ) = R (& ) R (i) R (') [Q] xyz " pqw = [ R3 (# )][ R ][ 3 ] [ 3 ][ 1 ][ 3 ] 1
Transforma0on between Geocentric Equatorial and Perifocal Frame

Transformation from perifocal to geocentric equatorial frame is then
T [Q] pqw " xyz = [Q] xyz " pqw
Therefore
= [Q] xyz " pqw {r}xyz {r} pqw ! {v} pqw = [Q] xyz " pqw {v}xyz
% cos # ' = ' $ sin # ' & 0 sin # cos # 0
{r}xyz = [Q] xyz " pqw {r} pqw {v}xyz = [Q]T {v} pqw xyz " pqw
[Q] xyz " pqw
0 ( %1 0 0 ( % cos + sin + 0 ( *' *' * 0! 0 cos i sin i $ sin + cos + 0 *' *' * 1* 0 1* )' &0 $ sin i cos i * )' & 0 )
Perturba0on to Orbits
Oblateness Planets are not perfect spheres
Req " R pole oblateness = Req
Oblateness
r =" 3r+p r
r + pt u t + ph h p = pr u
2 # R& pr = "1.5 2 J 2 % ( 1 " 3sin 2 (i) sin 2 () + * ) ! r $r'
2 # R& pt = "1.5 2 J 2 % ( sin 2 (i) sin 2 (2() + * )) r $r' 2 # R& ph = "1.5 2 J 2 % ( sin(2i) sin 2 () + * ) r $r'
Oblateness
Oblateness
$ 2 ' J2 R ) & " = #1.5 2 cos i 7 2 & a (1 # e ) ) % (
if (0 " i < 90) if (90 < i " 180)
# #
<0 $ >0 $
Oblateness
$ 2 ' $5 2 ' J R 2 & ) = #1.5 " & sin i # 2) & a 7 (1 # e 2 ) 2 )% 2 ( % ( $ (5 /2) sin 2 i # 2 ' & =* ) cos i % (
if (0 " i < 63.4) or (116.6 < i " 180) if (63.4 < i " 116.6)
# #
>0 $ <0 $
Sun-Synchronous Orbits
Orbits where the orbit plane is at a fix angle from the Sun-planet line
Thus the orbit plane must rotate 360 per year (365.25 days) or 0.9856/day
SunSync = " SunSync "
2# $ rad 365.25$ 86400$ sec = 1.991E % 07 rad / s
Finding State of S/C w/Oblateness

Given: Ini0al State Vector Find: State a6er t assuming oblateness (J2) Steps nding updated state at a future t assuming perturba0on
1. 2. 3. 4. Compute the orbital elements of the state Find the orbit period, T, and mean mo0on, n Find the eccentric anomaly Calculate 0me since periapsis passage, t, using Kepler s equa0on
M e = nt = E " e sin E

5. Calculate new 0me as tf = t + t 6. Find the number of orbit periods elapsed since original periapsis passage
n p = t f /T
7. Find the 0me since periapsis passage for the nal orbit
t orbit _ n = n p " floor n p
( )] T
8. Find the new mean anomaly for orbit n
9. Use Newton s method and Kepler s equa0on to nd the Eccentric anomaly (See slide 57)
M e ) orbit _ n = n t orbit _ n

10. Find the new true anomaly
" orbit _ n E orbit _ n 1+ e tan = tan 2 1#e 2

11. Find posi0on and velocity in the perifocal frame
{r} pqw
{v} pqw
#cos" ' % h / % $ sin " ( = 1 + e cos" % % & 0 ) # * sin " ' % % = $e + cos " ( h% % 0 & )
2

12. Compute the rate of the ascending node
$ 2 ' J R 2 ) cos i = #1.5 & " & a 7 (1 # e 2 ) 2 ) % (

13. Compute the new ascending node for orbit n
14. Find the argument of periapsis rate
#t "orbit _ n = "0 + "
% (5 /2) sin 2 i $ 2 ( ' =# " * cos i & )
15. Find the new argument of periapsis
#t " orbit _ n = " 0 + "

16. Compute the transformation matrix [Q] using the inclination, the UPDATED argument of periapsis, and the UPDATED longitude of ascending node
& # sin($) cos(i) sin(% ) + cos($) cos(% ) # sin($) cos(i) cos(% ) # cos($) sin(% ) sin($) sin(i) ) ( + = ( cos($) cos(i) sin(% ) + sin($) cos(% ) cos($) cos(i) cos(% ) # sin($) sin(% ) # cos($) sin(i) + ( + sin(i) sin(% ) sin(i) cos(% ) sin(i) ' *
[Q] pqw " xyz
17. Find the r and v in the geocentric frame

!
{r}xyz = [Q] pqw " xyz {r} pqw {v}xyz = [Q] pqe " xyz {v} pqw
Ground Tracks
Projection of a satellite s orbit on the planet s surface
Ground Tracks
" E # 15.04 deg/ hr
Ground Tracks
Ground Tracks reveal the orbit period
"LON equator deg T= 15.04 deg/ hr

Ground Tracks reveal the orbit inclination
i = LATmax or min
If the argument of perispais, , is zero, then the shape below and above the equator are the same.
Lecture 07: Preliminary Orbit Determina0on

Chapter 5
Introduc0ons
This chapter only covers the basic concept of determining an orbit from some observa0on In prac0ce, this is not referred to as orbit determina0on Space OD is actually a sta0s0cal es0ma0on or ltering method (example: Kalman Filter) We will only cover Lambert s problem (Sec0on 5.3) from this Chapter
Lambert s Problem
Given 2 posi0ons on an orbit r1 and r2 and t, what are the veloci0es at those two points, v1 and v2.
Lambert Fit
Steps to nd v1 and v2:
1. Find the magnitude of r1 and r2 2. Decide if the orbit is prograde or retrograde 3. Compute the following 4. Compute
for prograde ! for retrograde
(r1 " r2 )z = (r1 " r2 )# k
/ &r % r ) $ 1 1 cos ( 1 2 + if ( r r + 1 ' 1 2 * "# = 0 & ) 1 $1 r1 % r2 + 12. $ cos ( ( r r + if ' 1 2 * 2
(r1 , r2 )Z - 0 (r1 , r2 )Z < 0
/ &r % r ) $ 1 1 cos ( 1 2 + if ( r r + 1 ' 1 2 * "# = 0 & ) 1 $1 r1 % r2 + 12- $ cos ( ( r r + if ' 1 2 * 2
(r1 , r2 )Z < 0 (r1 , r2 )Z . 0
Lambert Fit
5. Compute the func0on
A = sin "# r1 r2 1 $ cos "#
6. Find z by itera0ng using Newton s method un0l convergence

!
zi +1 = zi "
F ( zi ) F ' ( zi )
you can start with z0 = 0 (or posi0ve z0 if an ellip0cal orbit), where

" y ( z) % 3 / 2 ! F ( z) = $ C( z) ' S (z) + A y (z) ( )t # &
* " % 3S ( z) 3 / 2 C z ( ( ) ," 2' % $ y z 2 C z 3 S z C (z) % A " S ( z) ( ) ( ) ( ) , $! ' $ ' ' if + + $3 y (z) + A , C z 2 z 4 C z 8 C z y z ( ) ( ) ( ) ( ) $ ' $ ' # & # & F / ( z) = + $ ' # & , , 2 A" 1 % 3/2 y (0) + $ y (0) + A if ' , 40 8 2 y 0 ( ) # & -
z)0
z =0
Lambert Fit
where # 1 " cos z # z " sin z % % if if z > 0 3 z ! % % z % % % cosh "z " 1 % sinh "z " " z C ( z) = $ if S ( z) = $ if z < 0 3 " z "z % % % % 1 1 if % if z = 0 % 2 6 % % & & 7. Note: the sign of the converged z tells you the orbit type:
!
z < 0 Hyperbolic Orbit z = 0 Parabolic Orbit z > 0 Elliptical Orbit
# z S (z) " 1& ( y ( z) = r1 + r2 + A % % $ C (z) ( '
z >0 z <0 z =0
Lambert Fit
8. Compute the func0on y(z) using the converged z
# z S (z) " 1& ( y ( z) = r1 + r2 + A % % $ C (z) ( '
9. Compute f, g, fdot, gdot
y ( z) f =1" ; r1
!
= f
y (z) z S ( z) " 1 r1 r2 C ( z)
y (z) g=A ;
10. Compute
=1" g
y (z) r2
v1 =
1 r " f r1 ; g 2
v2 =
1 r2 " r1 g g
Lecture 08 and 10: Orbital Maneuvers

Chapter 6
Maneuvers
We assume our maneuvers are instantaneous V changes can be applied by changing the magnitude pump or by changing the direc0on crank Rocket equa0on: rela0ng V and change in mass
minitial V = g 0 I SP ln m final
or
m final
where g0 = 9.806 m/s2
minitial = V exp g I 0 SP
Isp
Isp is the specic impulse (units of seconds) and measures the performance of the rocket
V
V ( delta -V) represents the instantaneous change in velocity (from current velocity to the desired velocity).
V = V2 V1
Circular Orbit Velocity
VC =
Elliptical Orbit Velocity
2 1 VE = R a
Tangent Burns
Your Initial Orbit
Ini0ally you are in a circular orbit with radius R1 around Earth
R1
VC1 =
R1
Your Spacecraft
Tangent Burns
R1
VC1 =
R2

R1
You perform a burn now which puts in into the red-doced orbit. So you perform a V.
V = VE1 VC1
Your new orbit after the V burn
Tangent Burns
R1
VC1 =
R2

R1
You perform a burn now which puts in into the red-doced orbit. So you perform a V.
!V = VE1 " VC1 where # 2 1& VE1 = % " ( $ R1 a ' and a= 1 ( R1 + R2 ) 2
Hohmann Transfer
The most efficient 2-burnmaneuver to transfer between 2 co-planar circular orbit
V
2
V = V1 + V2 V1 = V2 = 2 R2 1 R1 R1 + R2 2 R 1 1 R2 R1 + R2
R1
R2
V1
1 a3 TOF = P = 2
Hohmann Transfer (non-circular)

Another way to view it is using angular momentum
! rr $ a p h = 2 # #r +r & & " a p%
!Vtotal _ 3 = !VA + !VB !Vtotal _ 3' = !VA ' + !VB '
Hohmann Transfer (non-circular)

! rA rA ' $ h1 = 2 # & " rA + rA ' % ! rB rB ' $ h2 = 2 # & " rB + rB ' % ! rA rB $ h3 = 2 # & " rA + rB % ! rA 'rB ' $ h3' = 2 # & " rA ' + rB ' %
VA 1 = h1 / rA VB 1 = h2 / rB VA ' 1 = h1 / rA ' VB ' 1 = h2 / rB ' VA 3 = h3 / rA VB 3 = h3 / rB VA ' 3' = h3' / rA ' VB ' 3' = h3' / rB '
!VA = abs (VA 3 " VA 1 ) !VA ' = abs (VA ' 3 " VA ' 1 ) !VB = abs (VB 2 " VB 3 ) !VB ' = abs (VB ' 2 " VB ' 3' )
Bi-Ellip0c Transfer
Bi-Ellip0c Transfer
If rc/ra < 11.94 then Hohmann is more efficient If rc/ra > 15.58 then Bi-Elliptic is more efficient
Non-Hohmann Transfers w/ Common Line of Aspides

etransfer htransfer
A
2 !VA = V12 + Vtrans " 2V1Vtrans cos !! A
rA ! rB =! rA cos! A ! rB cos! B " cos! A ! cos! B % = rA rB $ ' # rA cos! A ! rB cos! B &
!vr @ A vr @ A orbit 2 # vr @ A orbit1 tan ! = = !v"@ A v"@ A orbit 2 # v"@ A orbit1

2 !VA = V12 + Vtrans " 2V1Vtrans cos !! A
!! A = (! trans " !1 ) @ A $ Vr ' ! i = tan & ) % V# (i @ A

"1
" ( / h1 ) e1 sin !1 % !1 = tan $ ' h1 / rA # & " % !1 ( / htrans ) etrans sin !1 " trans = tan $ ' htrans / rA # &
!1
Apse Line Rota0on

Opportunity to transfer from one orbit to another using a single maneuver occurs at intersection points of the orbits
Apse Line Rotation Angle
! = "1 ! " 2
NOTE:
rorbit1@ I = rorbit 2@ I
2 h12 / h2 / = 1 + e1 cos!1 1 + e2 cos! 2
Apse Line Rota0on

Setting
! 2 = !1 ! "
and using the following identity
cos (!1 ! " ) = cos!1 cos" + sin !1 sin "

Then
!1
has two solution corresponding to point I and J

2 2 " % h ! h !1 !1 = " cos $ 2 1 22 cos" ' # e1h2 ! e2 h1 cos# & 2 " % ! e h !1 2 1 sin # " = tan $ 2 ' 2 # e1h2 ! e2 h1 cos# &
Apse Line Rota0on

Given the orbit information of the two orbits Next, compute r, v!i , vri , ! i using "1 and
" 2 = "1 " #
h12 / r= 1 + e1 cos!1 v!1 = h1 / r vr1 = ( / h1 ) e1 sin !1
v!2 = h2 / r vr 2 = ( / h2 ) e2 sin ! 2
" 2 = tan "1 ( vr 2 / v!2 )

2 v2 = vr22 + v! 2
"1 = tan "1 ( vr1 / v!1 )

2 v1 = vr21 + v! 1
2 #v = v12 + v2 " 2 v1v2 cos (! 2 " !1 )
Apse Line Rota0on

!vr @ I vr @ I tan ! = = !v"@ I v"@ I

If you want to find the effect of a
orbit 2 orbit 2
# vr @ I # v"@ I
orbit1 orbit1
!v on orbit 1 at !1
2 v!1 + "v! ) ( vr1 + "vr ) v! ( 1 tan ! 2 = 2 (v!1 + "v! ) e1 cos!1 + (2v!1 + "v! ) "v! ( / r )
If
!1 = vr = !v" = 0 then
tan ! = !
rv"1 #vr e1
(at periapsis)
Apse Line Rota0on

Another useful equation:
e2
h1 + r1!v" ) ( =
e1 cos!1 + ( 2 h1 + r1!v" ) r1!v" h12 cos! 2
Plane Change Maneuvers

In general a plane change maneuver changes the orbit plane
r + v#2 u #2 " v#1u #1 !v = v 2 " v1 = ( vr 2 " vr1 ) u
!v = !v " !v
!
v2 v1 !v =
(vr 2 # vr1 )
2 2 + v$ + v 1 $1 # 2 v$2 v$1 cos !
or
2 !v = v12 + v2 " 2 v1v2 # $cos !! " cos !1 cos ! 2 (1 " cos " )% &
where
!! = ! 2 " !1
Plane Change Maneuvers

In general a plane change maneuver changes the orbit plane
If there is no plane change,
!=0
then
2 !v = v12 + v2 " 2 v1v2 cos !!
No plane change
and we get the same equation as from slide 130. If
vr1 = vr 2 = 0 and v!1 = v1 and v!2 = v2

2 !v = v12 + v2 " 2 v1v2 cos !
then
Pure plane change (common line of apisdes)
Plane Change
!vPC "! % " !i % = 2 vC sin $ ' = 2 vC sin $ ' #2& #2&
Pure plane change (circular to circular)
!v( a ) =
(v2 " v1 ) + 4v1v2 sin 2 (! / 2)

!v( c ) = v2 " v1 + 2 v2 sin (! / 2 )
!v( b ) = 2 v1 sin (! / 2 ) + v2 " v1
Catching a moving target: Hohmann transfer assume the target will be there independent of time, but for rendezvousing the target body is always moving.
Rendezvous
target V
TIME = 0
0 = n2 TOF
where
spacecraft
n2 =
a
3 2
mean motion
Catching a moving target: Hohmann transfer assume the target will be there independent of time, but for rendezvousing the target body is always moving.
Rendezvous
TIME = TOF V target spacecraft

0 = ntarget TOF
where ntarget =
3 atarget
mean motion
How long do you wait before you can perform (or initiate) the transfer?
Wait Time (WT)
TIME = -WT target 0

WT =
- 0
ntarget nsc
V spacecraft
Co-orbital Rendezvous
Forward thrust to slow down
Chasing your tail
Phasing orbit size target 0 V spacecraft

Reverse thrust to speed up
aphasing
2 2 initial = 2 ntarget 1/ 3
An approximation breaks the interplanetary trajectory into regions where conic approximation is applicable
Patched-Conic
Sphere of Influence
RSOI m planet = a planet m Sun
2/5
Patched-Conic
Computational Steps
PATCH 1: Compute the Hohmann transfer Vs PATCH 2: Compute the Launch portion PATCH 3: Compute the Arrival portion
PATCH 1
The V1 from the interplanetary Hohmann is V at Earth The V2 from the interplanetary Hohmann is V at target body arrival
Patched-Conic
RSOI V @Earth
VEarth
Earth Departure (assume circular orbit)

VDEP
2 V @ departure 1 = VC DEP 2 + VC DEP
where VC DEP =
DEP
RC DEP
RC@DEP
VDE
P
Patched-Conic
VCA
P
Target Body Capture (assume circular orbit)

VCAP V @ arrival = VCCAP 2 + VC CAP
2 1
RC@CAP RSOI VMars

where VCCAP =
CAP
RCCAP
V @Mars
Patched-Conic
Total Mission V for a simple 2 burn transfer

VMISSION = VDEP + VCAP
VDE
P
VCA
P
Planetary Flyby
Getting a boost
Gravity-assists or ybys are used to

Reduce or increase the heliocentric (wrt. Sun) energy of the spacecra6 (orbit pumping), or Change the heliocentric orbit plane of the spacecra6 (orbit cranking), or both
Planetary Flyby
Getting a boost
Planetary Flyby
Getting a boost
Planetary Flyby
Getting a boost Stationary Jupiter Moving Jupiter
Planetary Flyby
Getting a boost
Fg Vplane
t
Fg
Decrease energy wrt. Sun
Increases energy wrt. Sun
Planetary Flyby
Getting a boost V leveraging is the use of deep space maneuvers to modify the V at a body. A typical example is an Earth launch, V maneuver (usually near apoapsis), followed by an Earth gravity assist (V- EGA). V
post maneuver
If no maneuver
Lecture 11and 12: Rela0ve Mo0on

Chapter 7
Rela0ve Mo0on and Rendezvous

In this chapter we will look at the rela0ve dynamics between 2 objects or 2 moving coordinate frames, especially in close proximity We will also look at the linearized mo0on, which leads to the Clohessy-Wiltshire (CW) equa4ons
Co-Moving LVLH Frame (7.2)

Local Vertical Local Horizontal (LVLH) Frame CHASER (or observer) TARGET
rA i= , rA
! j= k i,
hA k= hA
Co-Moving LVLH Frame

The target frame is moving at an angular rate of
= r 2# k = r 2! h A = rA ! v A = rA vA" k A A
where
!1$ d v A ( rA rA ! v A ! ! = 2 and ! = h A # 2 & = '2 2 ! dt " rA % rA rA
Chapter 1: Rela0ve mo0on in the INERTIAL (XYZ) frame

rrel = rB ! rA v rel = v B ! v A ! ! " rrel ! " r ! ! " (! " r a = a !a !!
rel B A rel
rel
) ! 2! " v rel

We need to nd the mo0on in the non-iner4al rota0ng frame r =Q r
rel _ rot iner _ to _ rot rel _ iner
v rel _ rot = Qiner _ to _ rot v rel _ iner
a rel _ rot = Qiner _ to _ rot a rel _ iner
where Q is the rota0ng matrix from

! # =# # # " $ ! r /r i & # A A ' j &=# k i & # & # h A / hA k % " $ & & & & %
Qiner _ to _ rot

Steps to nd the rela0ve state given the iner0al state of A and B.
1. Compute the angular momentum of A, hA
2. Compute the unit vectors i, j, and k

3. Compute the rotating matrix Q
! 4. Compute ! and !
5. Compute the inertial acceleration of A and B
3 3 a A = ! rA / rA , and a B = ! rB / rB

Steps to nd the rela0ve state given the iner0al state of A and B.
6. Compute the relative state in inertial space 7. Compute the relative state in the rotating coordinate system
rrel _ rot = Qiner _ to _ rot rrel _ iner v rel _ rot = Qiner _ to _ rot v rel _ iner a rel _ rot = Qiner _ to _ rot a rel _ iner
Rotating Frame
Lineariza0on of the EOM (7.3)

r = R + !r
R + !r !! !!! r = !R ! 3 R + !r
neglecting higher order terms
! r / R << 1
& # 3 !!! r = ! 3 %! r ! 2 ( R " ! r ) R( ' R $ R
Lineariza0on of the EOM

Assuming R = R i
" !2 ! x $ !! !r = ! 3 $ ! y R $ # !z
% ' rB ! !! rA = a B ! a A ' = !! ' &
Acceleration of B relative to A in the inertial frame
! " ! r ! ! " (! " ! r ) ! 2! " ! v ! a rel = !!! r!! rel h != 2k R 2 ( V " R) h ! !=! k 4 R

After further simplification we get the following EOM
" 2 h 2 % 2 ( V ( R) h 2h !=0 ! !! x ! $ 3 + 4 '! x + !y ! 2 !y 4 R R #R R & " h2 % 2 ( V ( R) h 2h !=0 ! !! y + $ 3 ! 4 '! y ! !x + 2 !x 4 R R #R R & ! !! z + 3 !z = 0 R

Thus, given some initial state R0 and V0 we can integrate the above EOM (makes no assumption on the orbit type)

e = 0.1
e=0
Clohessy-Whiltshire (CW) Equa0ons (7.4)

Assuming circular orbits: Then EOM becomes
( V ! R) = 0 and h =
!=0 ! !! x ! 3n 2! x ! 2 n ! y !=0 ! !! y + 2n ! x
! !! z + n 2! z = 0
where
n= =V / R 3 R
Clohessy-Whiltshire (CW) Equa0ons

Where the solution to the CW Equations are:
" % 2 1 2 ! ! ! ! x = 4! x0 + ! y0 + ! x0 sin ( nt ) ! $ 3! x0 + ! y0 ' cos ( nt ) # & n n n " % 2 2 2 ! 0 ! 3 ( 2 n ! x0 + ! y !0 ) t + 2 $ 3! x0 + ! y !0 ' sin ( nt ) + ! x !0 cos ( nt ) ! y = ! y0 ! ! x # & n n n 1 !0 sin ( nt ) + ! z0 cos ( nt ) !z = !z n
Maneuvers in the CW Frame (7.5)

The position and velocity can be written as
! r (t ) = !rr! r0 + !rv! v 0 ! v (t ) = ! vr! r0 + ! vv! v 0
where
# 4 " 3cos nt 0 ( ) 0 % !rr = % 6 (sin ( nt ) " nt ) 1 0 % % 0 0 cos ( nt ) $
& ( ( ( ( '
# (1 / n) sin (nt ) % % !rv = % ( 2 / n ) ( cos ( nt ) " 1) % 0 % $
(2 / n) (1 " cos (nt )) (1 / n) ( 4sin (nt ) " 3nt )

0
& ( ( 0 ( ( (1 / n) sin (nt ) ( ' 0
Maneuvers in the CW Frame

and
# 3n sin ( nt ) 0 0 % ! vr = % 6 n ( cos ( nt ) " 1) 0 0 % % 0 0 "n sin ( nt ) $ & ( ( ( ( '
& ( ( ( ( '
# cos nt 2sin ( nt ) 0 ( ) % ! vv = % "2sin ( nt ) 4 cos ( nt ) " 3 0 % % 0 0 cos ( nt ) $
Two-Impulse Rendezvous: from Point B to Point A

Two-Impulse Rendezvous: from Point B to Point A
!v = !v@ B (t = 0 ) + !v@ A (t = t f )
where
" & $ & !v@ B = "$ # t # t ! r " ! v 0 0 % rv ( f )' % rr ( f )'
"1
% # %# % # % !v@ A = # $" vr (t f )& ' $" vv (t f )&$"rv (t f )& $"rr (t f )& ! r0

! where ! v 0 is the relative velocity in the Rotating frame, i.e., ! v! 0 = Qinertial _ to _ rotating! v = Q Xx ( v s /c ! v tar ! ! tar! r )
'1
If the target and s/c are in the same circular orbits then
! v! 0 =0

Two-Impulse Rendezvous example:
Lecture 13: Rigid Body Dynamics Aytude Dynamics

Chapter 9-10
Rigid Body Mo0on

R B = R A + R B/A
Note:
R B/A = constant
dR B/A / dt = ! ! R B/A
v B = v A + ! ! R B/A
a B = a A + ! ! R B/A + ! ! (! ! R B/A )
Position, Velocity, and Acceleration of points on a rigid body, measure in the same inertial frame of reference.
Angular Velocity/Accelera0on
When the rigid body is connected to and moving rela0ve to another rigid body, (example: solar panels on a rota0ng s/c) computa0on of its iner0al angular velocity () and the angular accelera0on () must be done with care. Let be the iner0al angular velocity of the rigid body
d" != + ! !" dt
Note:
!=
d" dt
if
! =!
Example 9.2
Angular Velocity of Body
!=N k
Angular Velocity of Panel

! j + N k ! = !!
w + w cos! k sin ! i + d j 2 2
rA/O = !
#w ! & w " w! ! sin ! k v A/O = ! ! rA/O = " % ! cos! + Nd ( i " N sin ! j $2 ' 2 2
Example 9.2 (con0nues)

0 d" d ! + Nk ! "! =! ! j + N k ! N i != + ! !! = "! j + N k dt dt
) ( ) (
a A/O = ! ! rA/O + ! ! (! ! rA/O )
w 2 !2 ! cos! a A /O = N + ! sin ! i ! N Nd + w! 2
w !2 j ! ! cos! k 2
Example: Gimbal
+ N sin ! j !k + N cos! k ! =!
! i + N sin ! j + ( N cos! + " ) k ! rotor = ! spin
Equa0ons of Mo0on
Dynamics are divided to transla0onal and rota0onal dynamics
Translational:
!! Ftrans = m R G
Equa0ons of Mo0on
Dynamics are divided to transla0onal and rota0onal dynamics
Rotational:
M Pnet =
m
!! " r!R
dm
M Pnet =
" r ! dF
net
! + v ! mv M Pnet = H P p G
If v p = v G then
! MGnet = H G
where
HG =
" ! ! (" ! ! )
dm
Angular Momentum
HG =
" ! ! (" ! ! )
?
dm
! ! (" ! ! ) = " ( ! " ! ) # ! (" " ! )

$ 2 2 y + z )" x # xy" y # xz" z & ( & ! ! (" ! ! ) = & # yx" x + ( x 2 + z 2 )" y # yz" z & & # zx" x # zy" y + ( x 2 + y 2 )" z % ' ) ) ) ) ) (
Angular Momentum
Since:
! # Hx HG = # H y # # Hz "
I xz I yz I zz ! $ # & # &=# & # & % # "
$ ! & # !x & = [?] # ! y & # & # !z % "
$ & & & & %

( ' xy dm
HG = I!
! I # xx I = # I yx # # I zx "
I xy I yy I zy
2 2 y + z ( ) dm '
( ' yx dm ( ' zx dm
' ( x + z ) dm ( ' zy dm
2 2
$ & & ( ' yz dm & & 2 2 ' ( x + y ) dm & % ( ' xz dm
Note:
I yx = I xy , I zx = I xz , and I yz = I zy
Angular Momentum
If
I has 2 planes of symmetry then

! # I xx I =# 0 # # 0 " 0 I yy 0 $ 0 & ! A 0 0 $ # & 0 &=# 0 B 0 & & # 0 0 C & I zz & % % "
therefore
H x = A ! x, H y = A ! y, H z = A ! z
Moments of Iner0a
Eulers Equa0ons
Rela0ng M and ! for pure rota0on. Assuming body xed coordinate is along principal axis of iner0a ! = H ! Therefore Mnet = H relative + ! " H
H=
(H
Hy
Hz
) = ( A!
i !x A! x
B! y
C! z
M net =
( A!!
!y B!
!z C!
)+
j !y B! y
k !z C! z
Eulers Equa0ons
Assuming that moving frame is the body frame, then ! = ! this leads to Eulers Equa4ons:
! x + (C ! B)! y! z M xnet = A! ! y + ( A ! C )! z! x M ynet = B! ! z + ( B ! A)! x! y M znet = C!
Kine0c Energy
1 T= 2 1 ! v dm = 2 m
2
1 2 1 ! v " v dm = 2 mvG + 2 ! " HG = Ttrans + Trot m
1 1 T Trot = (! x H x + ! y H y + ! z H z ) = ! I! 2 2
Spinning Top
Simple axisymmetric top spinning at point 0
Introduces the topic of 1. Precession 2. Nutation 3. Spin Assumes:
I xx = I yy = A and I zz = C ! !p = " ! !n = #
Notes: If A < C (oblate) If C < A (prolate)
Spinning Top
From the diagram we note 3 rotations:
+! k ! = ! ni + ! p K s
where
= sin ! j + cos! k K
therefore:
! !p = "
! !n = #
! # !x ! = # !y # # !z "
$ ! !n & # &=# ! p sin " & # & # ! s + ! p cos" % "
$ & & & & %
Spinning Top
From the diagram we note the coordinate frame rotation
! = ! ni + ! p K
therefore:
! !p = "
" ! $ A! x !y = $ A! $ $ C! !z #
! !n = #
% i ' ' + (x ' ' A! x & j (y A! y k (z C! z
" % " ! !n $ x ' $ ! = $ ! y ' = $ ! p sin " $ ' $ $ !z ' $ ! p cos" # & #
% ' ' ' ' &
! M 0 net
) (*mg) K = mgd sin ! i =d k
Spinning Top
Some results for a spinning top
!p =! !s = 0 Precession and spin rate are constant ! For precession two values exist (in general) for ! ! 90
" % 4 mgd A ! C cos " C ( ) $! s ! s2 ! ' !p = 2 ' 2 ( A ! C ) cos" $ C # &
If spin rate is zero then

mgd ! p ! =0 = s (C ! A) cos! if
(C ! A) cos! > 0
If A > C, then tops axis sweeps a cone below the horizontal plane If A < C, then tops axis sweeps a cone above the horizontal plane
Spinning Top
Some results for a spinning top
If ( A ! C ) cos ! = 0 then
mgd !p = C! s if
( A ! C ) cos" = 0
If A = C , then precession occurs regardless of 0tle angle If A ! C , then precession occurs 0tle angle 90 deg
If ( A ! C ) cos ! > 0 then a minimum spin rate is required for steady precession at a constant 0lt
2 ! s _ MIN = mgd ( A ! C ) cos" if ( A ! C ) cos" > 0 C If ( A ! C ) cos ! < 0 then ! s ! 0, and ! p ! ! p !s =0
Axisymmetric Rotor on Rota0ng Pla|orm

! = 90
+! k ! = !p j s ! = !p j
i MGnet = ! ! H = 0 0
k 0 C! s " $ ! C! k = !p j s = #! p % ! H s
!p
A! p
Thus, if one applies a torque or moment (x-axis) it will precess, rotating spin axis toward moment axis
Eulers Angles (revisited)

Rota0on between body xed x,y,z to rota0on angles using Eulers angles (313 rota0on)
Qiner _ to _ body = R 3 (! ) R1 (! ) R 3 (! )
! # !x ! body = # ! y # # !z "
! ! # p # !n # # !s " $ ! & # &=# & # & # % " ! " ! # ! $
! body = Qiner _ to _ body!inertal
$ ! ! sin " sin # + ! cos # $ n & & # p & = # ! p sin " cos # ' ! n sin # & & & # & # & ! s + ! p cos" % " % ! 1 $ # ! x sin $ + ! y cos $ ) ( sin # & # &=# ! x cos $ ' ! y sin $ # & & # '1 % # ! x sin $ + ! y cos $ ) + ! z ( " tan #
$ & & & & & & %
Eulers Angles (revisited)

! # !x ! body = # ! y # # !z " $ ! ! sin " sin # + ! cos # n & # p & = # ! p sin " cos # ' ! n sin # & # & # ! s + ! p cos" % " $ & & & & %
! x + (C ! B)! y! z M xnet = A! ! y + ( A ! C )! z! x M ynet = B! ! z + ( B ! A)! x! y M znet = C!

! !inertal = QT iner _ to _ body! body
Satellite Aytude Dynamics

! =0=H ! Torque Free Mo0on MG _ net = H G G _ rel + ! ! H G HG cos! = !k HG
A ! B)" x" y ( ! ! = "n = ! HG sin !
Eulers Equa0on for Torque Free Mo0on

! x + (C ! A)! y! z 0 = A! ! y + ( A ! C )! z! x 0 = B! ! z + ( B ! A)! x! y 0 = C!
A=B
! x + (C ! A)! y! z = 0 A! ! y + ( A ! C )! z! x = 0 A! !z = 0 C!
! x ! "! y = 0 ! ! y + "! x = 0 !
A!C != "0 A
! z = ! 0 = constant !n = 0
!!x + "! x = 0 !

C ! xy = ! 0 tan " A
For Then:
! = !! + !0 = !! + !0k
A!C ! !s = " = !0 A
!= !p = "
C !s A ! C cos#
If A > C (prolate), p > 0 If A < C (oblate), p < 0

! # Hx HG = # H y # # Hz " $ ! & # A! x & = # A! y & # & # C! z % "
tan ! =
$ ! & # A! x & = # A! y & # & # C! 0 % "
$ & & & & %
A tan " C
If A > C (prolate), < If A < C (oblate), >

HG = A! p
Stability of Torque-Free S/C

Assumes: ! = ! 0 k
! x + (C ! A)! y! z 0 = A! ! y + ( A ! C )! z! x 0 = B! ! z + ( B ! A)! x! y 0 = C!
!!x, y + k!" x, y = 0 !"

A ! C)(B ! C) 2 ( k= ! AB
0

!!x, y + k!" x, y = 0 !"
If k > 0, then !" x, y = c1e + c2 e solution is bounded A > C and B > C or A < C and B < C Therefore, spin is the major axis (oblate) or minor axis (prolate) If k < 0, then !" x, y = c1e + c2 e solution is unstable A > C > B or A < C < B Therefore, spin is the intermediate axis
kt ! kt i kt ! i kt

!rot With energy dissipa0on ( T < 0 )
1 T 1 1 2 Trot = ! I! = A! ! + C! z2 2 2 2 2 & 2 !rot & 1 #! 1 d! " d! ! C# T !z = ! =2 % %Trot ! A ( ( C! z $ 2 dt ' dt A $C " A'

d! <0 dt 2 d! ! >0 dt
2 !
if if
C > A (oblate) " asymtotically stable C < A ( prolate) " unstable

Kine0c Energy rela0ons
2 1 1 1 H 1# A"C& 2 2 2 G Trot = A! ! + C! z = + % ( C! z 2 2 2 A 2$ A '
2 " A!C 1 HG 2 % Trot = cos ! ' $1 + & 2 A # A
! # # Trot = " # # $
2 1 HG 2 C 2 1 HG 2 A
for major axis spinner for minor axis spinner
Conning Maneuvers
Maneuver of a purely spinning S/C with xed angular momentum magnitude
! = !0k
HG,0 = C! 0 k
!HG = !HG1 + !HG 2

tf
!HG =
"M
0
dt
Conning Maneuvers
Before the Maneuver
!s = !0
H G = C! 0
During the Maneuver
" A!C% !s = $ '! 0 # A &
$ C ! !0 & !P = # # A " cos (" / 2 ) & %

C! 0 H G = A! p = cos (" / 2 )
Another maneuver is required HG2 after precession 180 deg
Conning Maneuvers
Another maneuver is required HG2 after precession 180 deg. At the 2nd maneuver we want to stop the precession (normal to the spin axis):
!HG1 = !HG 2
!s = ! p
" C % ! = 2 cos $ ' # A!C&
!1
t=
! !A = cos (" / 2 ) " p C! 0
!HG = !HG1 + !HG 2 = 2 ( HG 0 tan (! / 2 )) " HG 0 !
Required deflection angle to precess 180 deg for a single coning mnvr
Gyroscopic Aytude Control

Momentum exchange gyros or reac0on wheels can be used to control S/ C aytude without thrusters. The wheels can be xed axis (reac0on wheels) or gimbal 2- axis (cmg)

bus i i i HG = I G + ! IG ! + ! IG ! rel
= I ! + !I !
s /c G i G
i rel
MG,net,ext
dHG = + ! ! HG dt
Example:
H G = ( I p + I w )! + I w! rel
If external torque free then
H G (t = 0 ) = H G (t = !t )
therfore
!! rel = " (1 + I p / I w ) !!

Example II: S/C with three identical wheels with their axis along the principal axis of the S/C bus, where the wheels spin axis moment of inertial is I and other axis are J. Also, the bus moment of inertia are diagonal elements (A, B, C).
H G = ( I B + I1 + I 2 + I 3 )! + I1!1 + I 2! 2 + I 3! 3

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Stable for > 100 days

Lecture 01 and 02: Two-Body Dynamics: Conics

" R =R where = G( M + m) and r 2 1

h2 / p r= = 1 + e cos" 1 + e cos "

NOTE: = 0 (parabolic), > 0 (escape), < 0 (capture: elliptical and circular)

0 < e < 1 and

vr e sin $ tan " = = v# 1 + e cos$

v2 2 " = 0 = # $ v parabolic = = v escape 2 r r ! vr e sin $ 1 % sin $ tan " = = = v# 1 + e cos$ 1 + 1 % cos $

$ 1' " = cos & ) % e(

a(1 " e 2 ) 1 + e cos#

2 v" ! = = e sin # " = e $1 a h h

+ r sin " q r = r cos" p =x p q +y v =r sin " p cos " # r" v= r

( ) cos" ) q sin " + r" +( r

Solving unit vector based on initial conditions

# h2 & 1+ % % r " 1( ( cos )* $ 0 '

# h vr0 & "% ( sin )* $ '

4. Find r (last slide) 5. Find f, g, fdot, gdot 6. Find r and v

! x1 = "# 2 r12 x 2 = #1r12

+ y r1 = ( x + " 2 r12 )i j + zk + y r2 = ( x # "1r12 )i j + zk + y r = xi j + zk

+ (y = (x " 2#y " # 2 x )i + 2#x " #2 y ) k r j + z

1 2 ! 2 " 2#y " # x = " 3 ( x + $ 2 r12 ) " 3 ( x " $ 1r12 ) x r1 r2

1 2 y " 3 3 y r1 r2 1 2 =" 3 z" 3 z z r1 r2

CR3BP: Equilibrium Points

1 2 1 2 2 1 2 2 JC = v " # ( x + y ) " " 2 2 r1 r2

Orbit Posi0on as a Func0on of Time

Lecture 03 and 04: Two-Body Dynamics:

Time versus True Anomaly

2 d" 2 3 dt = h 1 + e cos " ) ( !

Integrating from 0 (assuming tp = 0) to t and from 0 to

2 ! # d" 2 3 t = $ h 1 + e cos " ) 0 (

Time versus True Anomaly

d" 2 (1 + e cos " )

Time versus True Anomaly

d" (1 + e cos " ) 2

Since for a circular orbit we have

FOR CIRCULAR ORBIT

Time versus True Anomaly

d" (1 + e cos " ) 2

Then a = 1 and b = e, therefore we have b < a

Time versus True Anomaly

Therefore we can solve for me as function orbit period as

where n = mean motion = 2/Te

Time versus True Anomaly

* $ 1"e ' e 1 " e 2 sin # # / M e = n t = ,2tan "1& tan ) " 2( 1 + e cos# / , % 1+ e + .

! a cos E = ae + r cos "

1 + e cos " e + cos " cos E = 1 + e cos "

Time versus True Anomaly

e + cos " cos E = 1 + e cos "

1 " e 2 sin # sin E = 1 + e cos #

E 1 " e $1 " cos # ' 1 " e 2 # tan = tan & )= 2 1 + e % 1 + cos # ( 1 + e 2

E 1"e # tan = tan 2 1+ e 2

$ 1"e #' E = 2tan & tan ) 2( % 1+ e

Time versus True Anomaly

* $ 1"e ' e 1 " e 2 sin # # / M e = n t = ,2tan "1& tan ) " 2( 1 + e cos# / , % 1+ e + .

Time versus True Anomaly

E 1"e # tan = tan 2 1+ e 2