Lec Chapter 01

ME 4713 Spacecraft Dynamics
and Cont rol

I nt r oduct i on and ov er v i ew of
Chapt er 1 - Dy nami cs of Poi nt
Masses
1
At t it ude Dynamics and Cont rol
Cont rol of s/ c
Hardware issues and concerns
Space environment
Dist urbances
Nonlinear dynamics
Full axis cont rol requirement s
s/ c posit ion ( orbit ) covered in ME2713
s/ c at t it ude ( orient at ion) in ME4713
Cont rol locat ion ( hardware) summarized here
2
What is s/ c at t it ude?
most s/ c have ( expensive) inst rument at ion and/ or ant ennae t hat
must be point ed in specific direct ions
Hubble t elescope must point it s main t elescope
Communicat ion sat ellit es must point t heir ant ennae
Well, t he orient at ion ( or point ing direct ion) of s/ c is called
spacecraft at t it ude
To be able t o cont rol ( maint ain/ change/ alt er) at t it ude one must
Be given t he desired at t it ude
Know ( det ermine, est imat e) t he current ( act ual) at t it ude
use ( 2 or more) sensors t o obt ain relevant informat ion on orient at ion
process measured dat a and guess t he current at t it ude ( Kalman filt er)
Comput e t he error ( mismat ch) bet ween act ual and desired at t it udes
Apply cont rol t orques ( i. e. t he act uat ors) t o minimize/ eliminat e t he error
3
At t it ude det erminat ion ( aircraft vs s/ c)
Aircraft always have a great reference: t he Eart h!
Spacecraft have many references
Eart h, Sun, st ars, moon, planet s, ot her s/ c
Aircraft can be serviced
Expensive t o bring s/ c back t o eart h for servicing and send it out again! ! ! ! ! ! !
Dynamics of aircraft more complicat ed t han spacecraft , but
kinemat ics of spacecraft usually more complicat ed t han spacecraft
4
What t o expect from ME4713
Want t o underst and rot at ional mot ion of sat ellit es
Need t o use angular moment um expressions t o derive
t he rot at ional equat ions
Choice of origin
Euler angles and orient at ion angles
Rot at ional mat rices
Mat erial t o be covered in t his class
Ch. 9 ( rigid body dynamics) Ch. 10 ( at t it ude dynamics) s/ c at t it ude cont rol
Will need overview of ch. 1, select ed sect ions of Ch. 2 and 4, possibly ch. 7 ( relat ive
mot ion) for format ion flying and supplement al mat erial
5
Hist orical background and
definit ions
Ast rodynamics
Deal wit h mot ion of man- made obj ect s in space
subj ect t o bot h nat ural and art ificially induced forces
At t it ude dynamics
Deal wit h orient at ion of an obj ect in space
Orbit al dynamics
St udy t he mot ion of all orbit ing bodies
Celest ial mechanics
Examines t he dynamic mot ions of celest ial obj ect s
Ot her sub- cat egories
Opt imal orbit maneuvers, modeling and cont rol of flexible s/ c members, t raj ect ory
opt imizat ion, format ion flying, propulsion
6
St at ing t he obvious!
Learn how t o design a s/ c so t hat it point s in
t he int ended direct ion! ! ! ! ! ! !
7
Modeling, st abilit y and cont rol of
t ranslat ional syst ems
A damped spring- mass syst em wit h a forcing funct ion applied
t o t he mass. ( a) At rest . ( b) I n mot ion under t he act ion of t he
applied force F ( t ) . ( c) Free body diagram at any inst ant .
8
using Newt ons law of mot ion,
assume a smoot h surface and no spring, no dashpot
equat ion of mot ion:
must be given: init ial posit ion and init ial velocit y in order t o
solve t he 2
nd
order different ial equat ion
int egrat e once:
int egrat e once more:
find t he const ant s c
1
and c
2
using t he init ial condit ions
0 mx =
F ma =
0 0
0 0
( )
( )
x t x
x t v
=
1
( ) x t c =
1 2
( ) x t c t c = +
9
when t hen
when t hen
t herefore
t he solut ion is
check: bot h sat isfy t he solut ion.
int erpret at ion: t he mass will keep moving along a st raight line
for ever
0 0 0
, ( ) , t t x t v = =
0 0 0
, ( ) , t t x t x = =
0 1 0 2
x c t c = +
1 0
c v =
2 0 0 0
c x v t =
( )
0 0 0 0
( ) x t v t x v t = +
0 0 0 0 0 0 0
0 0
( )
( )
x t v t x v t x
x t v
= + =
10
now consider t he same mass wit h spring and dashpot - st ill no
ext ernal force
from t he free body diagram, we have
use
t hen
st ill, need t he init ial condit ions t o uniquely det ermine t he
solut ion
how t o find t he solut ion?
( )
s d
ma F mx t F F = =

( ), ( )
s d
F kx t F cx t = =
( ) ( ) ( ) 0 mx t cx t kx t + + =

( ) x t
11
assume t he solut ion has t he form
t he proposed solut ion must sat isfy t he D. E.
t hen
since we exclude t he t rivial solut ion, t hen
t he above is known as t he charact erist ic equat ion or t he
charact erist ic polynomial
solving for
t he root s are t he eigenvalues or poles of t he mechanical syst em
behavior ( solut ion) heavily depends on
( )
t
x t Ae
=
( )
2
0
t
m c k e
+ + =
2
0 m c k + + =
2
4
:
2
c c mk
m

=
12
t o simplify, consider
when c= 0, we have t he harmonic oscillat or
solut ions are of t he form
where a
1
, a
2
depend on I . C.
if t hen we have 2 real equal root s
in t his case, solut ions are of t he form
and we have t he crit ically damped case
2
0
c k
m m
+ + =
, 1
k
j j
m
= =
1 2
( ) sin cos
k k
x t a t a t
m m
| | | |
= +
| |
| |
\ . \ .
2
4 c mk =
2 2
1 2
( )
c c
t t
m m
x t a e a te
| | | |

| |
\ . \ .
= +
13
t o analyze t he behavior for all t ypes of root s and t o consider
more general 2
nd
order syst ems t hat describe ot her engineering
syst ems, we bring t he equat ion t o t he following form:
where is t he damping rat io and
is t he nat ural frequency
ident ify
root s are
if 2 real equal root s; crit ically damped
2 complex root s; oscillat ions; underdamped case
2 real unequal root s; overdamped case
2 2
2 0
n n
,e e + + =
,
n
e
2
, 2
n n
k c
m m
e ,e = =
2 2 2
2
2 4 4
1
2
n n n
n n
,e , e e
,e e ,

=
1 ,=
0 1 , < <
1 , >
14
t o alt er t he behavior of t he mechanical syst em, we consider
applying an ext ernal force
how t o choose
may t ry t o find t he force F( t ) t hat would result in a desired x( t )
behavior, but it requires t he solut ion t o ODE wit h t ime and
comput at ionally demanding calculat ions
use feedback cont rol
in t he above case, we only considered t he case where t he final
posit ion will be t he origin
wit hout any ext ernal force, t he mass will always go t o zero ( t he
equilibrium point )
( ) F t
( ) F t
( ) function of ( ) and ( ) F t x t x t =

( )
0, 0
ss ss
x x = =
15
associat ed wit h t he above equilibrium point of t he mechanical
syst em, is t he concept of st abilit y
Definit ion: a st at e of is an equilibrium st at e ( or
equilibrium point ) of t he syst em if once x( t ) is equal t o x
*
, it
remains equal t o x
*
for all fut ure t ime
mat hemat ically: 0= f( x
*
)
( ) x f x =
*
x
16
Now, we can proceed wit h t he definit ion of st abilit y
Definit ion: t he equilibrium st at e x
*
is st able if, for any R> 0
t here exist s r> 0 such t hat if | x( 0) | < r, t hen | x( t ) | < R for all
Ot herwise, it is unst able.
if you st art close enough t o t he equilibrium point , you st ay
near t he equilibrium point
difficult t o check it for nonlinear syst ems; for linear syst ems
of t he form , need t o look at t he eigenvalues of t he
mat rix ; if , t hen syst em is st able at t he equil. point
0 t >
x Ax =
A
( )
0 A <
17
ret urn t o t he mechanical syst em
if we want t he posit ion t o go t o a nonzero point , say t hen
we need t o change t he equilibrium point via feedback; use
such t hat t he equilibrium point is why???
where x
e
is t he nonzero posit ion
0 1 0
1
x x
d
F
k c
x x dt
m m m
( (
( (
( (
= +
( (
( (

0
e
x =
1 2 3
( ) ( ) ( ) F t a x t a x t a = + +
( )
, 0
e
x
18
1 2 3
3 1 2
1 2
so
0 0 1
0 0 1

equilibrium point: set the time derivative to zero:
0 1
0
0
x x
d
a x a x a k c
x x dt
m m m
x
a a a k c
x
m m m m m
a a k c
m m m m
( (
( (
( (
= +
+ +
( (
( (

( (
(
( (
= +
(
( (
+ +

(
(

=
(

+ +

1
* *
* * 3 3 1 2
0 0 0 1
and this must be equal to
0
e
x x
a a a a k c
x x
m m m m m m
x
( ( (
( (
( ( ( (
+ =
( (
( ( ( (
+ +

(
(

19
1
1
3
*
1
* 3 1 2
3
1 3
1
1
use
then
0 0 1
must be equal to
0
0
choose , such that
however, the fashion at which
e
e
a b d b
c d c a ad cb
a
x
x
a k
a a a k c
x
m m m m m
a
a a x
a k
x
( (
=
( (

(
( (
(
(
(
( (
= =
(
(
(
( (
+ +

(

2
( ) depends on
e
c a
t x
m
+
20
example 1:
21
1 2 3
2 1 3
3
1
1, 4; change signs for convenience
then
( ) (4 )
we have ( show this!)
4
ss
m k F a x a x a
x c a x a x a
a
x
a
= = = +
+ + + + =
=
+

example 1 ( cont d) :
22
1 3
2
2
if 3 (i.e. it is desired for the mass to come to rest at the position 3),
then 1, 15
the control force is given by ( ) ( ) ( ) 15
the closed loop system becomes ( ) ( ) ( ) 5 ( )
ss
x x
a a
F t x t a x t
x t c a x t x t
= =
= =
= +
+ + +

2
2
15
will study the effects of on the fashion at which ( ) 3
using the Matlab command , we can simulate the mechanical
system for different choices of the parameters
a x t
lsim
c a
=
+
23
example 2: has 2 equil. point s,
consider a graphical met hodonly works for 1
st
order syst ems
24
( 2) x x x =
1 2
0, 2
e e
x x = =
example 2: if we st art anywhere bet ween t he
solut ion will converge t o zero
if we st art in , t hen t he solut ion will grow unbounded
let us find t he analyt ical solut ion and examine t he above t wo
cases
25
( ) ( )
, 0 0, 2
( )
2,
26
let's find the analytical solution
( 2) separable differential equation
( 2)
1
consider the fraction , break into simpler fractions using
( 2)
1 1
partial fraction expansion; then
( 2) 2
dx dx
x x dt
dt x x
x x
x x
= =
( )
0 0
0 0
0
0 0
0
0 0
1 1 1
2 2
1 1 1 1
integrate 1 , where ( )
2 2 2
2 2
ln 2 ( )
( 2)
x t
x t
x
t
t t t
x
x x
dx dt x t x
x x
x x
t x t
x
x x e

| |
= =
|
\ .
| |
= =
|
\ .
} }
27
( )
( )
0
0
0
0 0
0 0 0
0
0
2
( )
( 2)
if 2, then ( ) 0 as because the term ( 2)
will always be positive and will go to as
if 2, then ( ) as because there will be some value of
t t
t t
x
x t
x x e
x x t t x x e
t
x x t t
t
<
=

<
+
>
( )
( ) ( )
0
0 0
0 0
0
0
0 0 0 0 0
0
that would make the denominator ( 2) equal to zero
2
( 2) 0 or ( 2) or ln (fin. escape time)
t t
t t t t
x x e
x
x x e x x e t t
x
>

| |
= = =
|
\ .

28
A1=[0 1;-5 -10]; %% c+a2=10
A2=[0 1;-5 -3]; %% c+a2=3
A3=[0 1;-5 -1]; %% c+a2=1
A4=[0 1;-5 -0.1]; %% c+a2=0.1
B=[0;15];C=[1 0];D=0;
t=0:0.1:20;
u=ones(size(t));
x0=[5;0];
[y1,x1]=lsim(A1,B,C,D,u,t,x0);
plot(t,y1,'b',t,y2,'r',t,y3,'g',t,y4,'y','LineWidth',2)
legend('c+a_{2}=10','c+a_{2}=3','c+a_{2}=1','c+a_{2}=0.1')
xlabel('time')
title('feedback control of 2nd order system with nonzero set point')
ORBI TAL MECHANI CS
Ov er v i ew of Chapt er 1 - Dy nami cs of
Poi nt Masses
29
Chapt er Out line
1.2 Vectors
1.3 Kinematics
1.4 Mass, force and Newtons law of gravitation
1.5 Newtons law of motion
1.6 Time derivatives of moving vectors
1.7 Relative motion
1.8 Numerical integration
30
Appendix Coordinates and Rotations
1.6&1.7 Relative motion and time derivatives: transport theorem
1. 2 Vect ors
31
Vector: an object that is specified by both a magnitude and a
direction
represent a vector graphically by a directed line segment
if A is a vector, then all vectors having the same physical
dimensions, the same length and pointing in the same direction as
A are denoted by A, regardless of their line of action
shifting a vector parallel to itself does not change mathematically the vector
however, a parallel shift might produce a different physical effect
1. 2 Vect ors
Figure 1.1 All of these vectors may be denoted A, since their
magnitudes and directions are the same.
32
1. 2 Vect ors
Figure 1.2 Parallelogram rule of vector addition.
The sum or resultant C of two vectors A and B is defined by the
parallelogram rule.
By construction, vector addition is commutative, i.e.
A+B = B+A
33
1. 2 Vect ors
Figure 1.3 Three-dimensional,
right-handed Cartesian
coordinate system.
Magnitude of A:
Unit vector in the direction of A:
where
34

note:
x y z y
x z
A A A A
A A
A A A A A
+ +
| |
| | | |
= = = + +
| | |
\ . \ .
\ .
A
i j k
A
u i j k
1. 2 Vect ors
Figure 1.4 Direction angles in three
dimensions.
35
1. 2 Vect ors
Example: calculate the direction angles of the vector
36

4 8 = + A i j k
2 2 2
1 1
1 1
1 1

find the magnitude of 1 4 8
1 ( 4) 8 9, then
1
cos cos 83.62
9
4
cos cos 116.4
9
8
cos cos 27.27
9
x y z
o
x
x x
y o
y y
o
z
z z
A A A
A
A
A
A
A
A
A
u u
u u
u u

= + = + +
= = + + =
| | | |
= = =
| |
\ . \ .
| |
| |
= = =
| |
\ .
\ .
| | | |
= = =
| |
\ . \ .
A i j k i j k
A
1. 2 Vect ors
Figure 1.5 The angle
between two vectors brought
tail to tail by parallel shift.
The dot product of t wo vect ors is a scalar defined as
where u is t he angle bet ween t he heads of
t he vect ors.
The dot product is zero if u is 90
0
.
37
1. 2 Vect ors
Scalar projection of B onto A
Scalar projection of A onto B
Figure 1.6 Projecting the
vector B onto the direction
of A.
38
1. 2 Vect ors
39
1. 2 Vect ors
bac- cab rule
I nt erchange of t he dot and t he cross
40
1. 2 Vect ors
Addit ional ident it ies involving cross product
Can use t he Mat lab commands dot and cross
41
( ) ( ) ( )
( ) ( ) ( )( ) ( )( )
( ) ( ) ( ) ( ) ( ) ( )
=
=
=
A B C B A C A B C
A B C D A C B D A D B C
A B C D A B D C A B C D
1. 3 Kinemat ics
To track the position of a particle P through the Euclidean space, we need:
frame of reference xyz
time t
Given a frame of reference, the position of a particle P at time t is defined
by the position vector r(t) from the origin of the frame out to P
Components of r(t) in xyz coordinates is
where are the unit vectors
See Table A.3 for units and units conversions
42

( ) ( ) ( ) ( ) t x t y t z t = + + r i j k

, , i j k
1. 3 Kinemat ics
Figure 1.8 Position, velocity and acceleration
vectors.
43
The distance of P from the origin
The velocity v and acceleration a ,
It is convenient represent the time derivative by means of an
overhead dot. For example,
1. 3 Kinemat ics
44
( ) ( ) ( )

( ) ( ) ( ) ( )
( )
( ) ( )

( ) ( ) ( ) ( )
x y z
y
x z
x y z
dx t dy t dz t
t v t v t v t
dt dt dt
dv t
dv t dv t
t a t a t a t
dt dt dt
= + + = + +
= + + = + +
v i j k i j k
a i j k i j k
Definition: path (or trajectory) is the locus of points that a particle
occupies as it moves through space
if the path is a straight line, we have rectilinear motion
otherwise we have curvilinear motion
velocity vector v is tangent to the path; let be the unit vector
tangent to the trajectory, then where is the speed
(magnitude of the velocity)
distance ds that P travels along its path in time interval dt is
1. 3 Kinemat ics
45
t
u
v =
t
v u v
ds vdt v s = =
Note: magnitude of derivative of r is not equal to the derivative of

the magnitude of r
1. 3 Kinemat ics
46
( ) ( ) ( )
( ) ( ) ( )
( ) ( ) ( )
( )
2 3 4 2
2 3
2 2
2
2 3
6 4 2
2
2

( ) 8 7 6 5 4 0.3 2 1
( )

( ) 16 7 15 1.2 4
( ) ( ) ( ) 16 7 15 1.2 4
144 234.6 272 224 49 (10) 1953.3 /
( ) ( ) ( ) ( ) 8 7 6
t t t t t t
d t
t t t t t
dt
t t t t t t t
t t t t v m s
r t t t t t t
= + + + + + + +
= = + + + +
= = + + + +
= + + + + =
= = = + + +
r i j k
r
v i j k
v v v
r r r
( ) ( )
2 2
3 4 2
8 6 4 3 2
7 5 3 2
8 6 4 3 2
5 4 0.3 2 1
0.09 26.2 68.6 152 149 84 53
0.36 78.6 137.2 228 149 42
( ) (10) 1935.5 /
0.09 26.2 68.6 152 149 84 53
t t t
t t t t t t
t t t t t
r t r m s
t t t t t t
+ + + +
= + + + + + +
+ + + + +
= =
+ + + + + +

we can find the components of the unit tangent in the Cartesian
coordinate frame of reference:
the acceleration vector can also be written as
1. 3 Kinemat ics
47

becau se
y
x z
v
v v
v
v v v
= = + + =
t t
v
i j k v u
v
u
t
u
2
where and are the tangential and normal
components of the acceleration, given by
, ,
=distance from

P to th
t n t n
t n
a a a a
v
a v s a
is the radius of curvature
= +
= = =
n t
u a u

e center of
curvature at the path at that point
1. 3 Kinemat ics
48
/
the unit principal normal is perpendicular to and
points towards the center of curvature C
the position of C relative to P is
the orthogonal unit vectors and form a plane ca
e

l
C P
=
n t
n
n t
u
u
u
u
r u
d
the plane; the unit normal to this plane is

, the and can be obtained from
can also use show this

!
osculating
binormal =
b b
b
n t
u
v a
u
v a
u u u
1. 3 Kinemat ics
Figure 1.9 Orthogonal triad of unit vectors associated with
the moving point P.
So that
or
49
1. 4 Mass, Force and Newt ons
Law of Gravit at ion
mass is the quantity of matter; measure of the inertia of a body
Inertia is an objects resistance to motion
unit of mass is the kilogram (Kg)
50
1. 4 Mass, Force and Newt ons
Law of Gravit at ion
Relationship between
acceleration of gravity g
and altitude z:
Figure 1.10 Variation of the acceleration of gravity with altitude.
Newtons law of gravity
where G is the Universal Gravitational Constant:
51
0
2 2
,
E
GM GM
g g
r R
| |
= =
|
\ .
1. 5 Newt ons Law of Mot ion
Figure 1.13 The absolute acceleration a of a
particle is in the direction of the net force.
Newtons second law of motion:
where a is the absolute acceleration of
the center of mass.
a is measured in a frame of reference
which itself has neither translational
nor rotational acceleration relative to
the fixed stars.
This reference is called an
absolute or inertial frame of
reference.
52
1. 5 Newt ons Law of Mot ion
Impulse of a force:
Angular momentum (moment of momentum):
Angular impulse-momentum principle:
53
net impulse on a body yields a
change mv in its linear momentum;
net force on a particle changes its
linear momentum mv
moment of a force about a fixed point
changes the moment of its linear
momentum about that point
O
Onet
d
dt
=
H
M
1. 6 Time Derivat ives of Moving
Vect ors
Figure 1.15 Displacement of a rigid body.
Time derivative of a
rotating vector of
fixed magnitude:
54
Vect ors
Figure 1.16 Fixed (inertial) and moving rigid frames of
reference.
55
Vect ors
Absolut e t ime derivat ive
Relat ive t ime derivat ive
56
1. 7 Relat ive Mot ion
Figure 1.17 Absolute and relative
position vectors.
Relative velocity formula:
Relative acceleration formula:
Coriolis acceleration term:
57
1. 7 Relat ive Mot ion
Figure 1.18 Earth-centered inertial
frame (XYZ); earth-centered non-
inertial x y z frame
embedded in and rotating with the
earth; and a non-inertial,
topocentric-horizon frame xyz
attached to a point O on the earths
surface.
58
Relat ive Mot ion and t ime
derivat ives
59
Would like to find the time derivative of a vector
that could be moving and/or rotating wrt inertial
frame. Consider the space station; rotates about its
center at angular speed rad/sec. Astronaut
stands on rim and walks around the inner edge
s
2
s
1
R
i
2
i
1
s
1
t
p
2
p
1
position vector of astronaut:
( ) ( )

cos sin R R u u = +
1 2
r s s

derivat ives
60
try to find velocity wrt station; treat as if they were constant

,
1 2
s s
( ) ( )

sin cos velocity wrt frame of reference
attached to the station
s
d
R R
dt
u u u u = +
1 2
r
s s

Superscript on derivative indicates the frame of reference whose unit
vectors are considered constant. It is NOT the inertial velocity, since the
station itself is rotating, and are also changing wrt inertial space

,
1 2
s s
( ) ( ) ( ) ( )
2

sin cos

+ cos +Rsin

i i i
d d
R
dt dt
d
R R
dt
u u u u u u = +
1
1 2
s s r
s s

derivat ives
61
( ) ( )
2
difference of velocity as seen from the
different frames and ; due to the rate
of change of the unit vectors of one
frame seen from the other

cos +Rsin
i i i s
d d d d
R
dt dt dt dt
u u = +
1
i s
s s r r
now, consider
1
s
2
s
2
ds
d
1
s
dt
lengths of remain equal to 1!

,
1 2
s s
angle
1
angle

d dt
d dt
e
e
=
=
1 2
2
s s
s s
derivat ives
62
Divide by dt and take limits
( ) ( )
2

sin + R cos
i s
d d
R
dt dt
e u e u =
1
r r
s s
Define angular velocity vector along instantaneous rotation axis; right
hand sense= angular velocity of s-frame wrt i-frame
si
e =
3
s
Transport theorem
i s
si
d d
dt dt
= +
r r
r
Expressed as operations on vectors, NOT their components
derivat ives
63
true for any vector:
inertial velocity expressed

in terms of the unit vector
of the rotating frame
i s
si
d d
dt dt

= +
s

derivat ives
64
Can also find the inertial velocity by direct differentiation of the position
vector when expressed in terms of the unit vectors of the inertial frame
( ) ( )
1

cos sin R t R t u e u e = + + +
2
r i i
then
( )
( )
( )
( )
2

sin + cos
i
d
R t R t
dt
u e u e u e u e = + + + +
1
r
i i

derivat ives
65
can even obtain a simpler expression; Now, change to the case
where the astronaut carries his/hers own personal reference frame p
R =
1
r p
angular velocity of p-frame will include both the rotation rate of
the station and the angular velocity of the astronaut d/dt
then
derivat ives
66
( )
( )
( )
1
2
note: =

i p
pi pi
d d
dt dt
R
R
u e
u e
u e
= + +
= +
= +
3
3
r r
r p
p p
p
why??
0
p
3
p
1
p
2
right hand rule
derivat ives
67
three different expressions of the same inertial velocity vector
( ) ( )
( )
( )
( )
( )
( )
2
2
2

sin + R cos

sin + cos
i s
i
i
d d
R
dt dt
d
R t R t
dt
d
R
dt
e u e u
u e u e u e u e
u e
= + + + +
= +
1
1
r r
s s
r
i i
r
p


derivat ives
68
inertial acceleration
i
3
i
1
i
2
s
3
s
1
s
2
R
r
si
Vector R locates origin of the s-frame wrt the i-frame
( )
2
2 2
2 2 2
2
2
2
2
i
i
i
s
i
i i
s
i
i
i
d
d
d d
dt dt dt
d d
d dt t dt
d d
d
d
t d dt t
+
= +
|
+
|
= +
|
\ .
| |
= +
|
\ .
r
r
r
r
R
r
R
R
R
using Transport theorem
Inertial acceleration of a point referenced to
translating, rotating coordinate axes
derivat ives
69
again, using Transport theorem
i s
si
s s s
si si si
d d d
dt dt
d d
dt dt dt
| | | |
+ +
| |
= + +
| | |
\ . \ . \ .
r r r
r r r
therefore
( )
( ) ( )
( )
2
2
2 2
2 2
2 2
2 2
2 2
i
i s s s
si si si
i s s s
si si si si
i s s si s s
si si si si
d
d d d d
dt dt dt dt dt
d d d d
dt dt dt dt
d d d d d
dt dt dt dt dt
+ | | | |
= + + + +
| |
\ . \ .
= + + + +
= + + + + +
R r
R r r
r r
R r r
r r
R r r r
r r
derivat ives
70
( )
( )
centripetal acceleration
inertial acceleration
coriolis acceleration
of origin of s-frame
2
2 2
2 2 2
2
i
i s s si s
si si si
d
d d d d
dt dt dt dt dt
+
= + + + +
R r
R r r
r r

derivat ives
71
Lets find the astronauts acceleration
position vector of astronaut is in astronauts reference frame
angular velocity vector of the astronauts frame is
note that and since the astronauts reference frame follows the astronaut
1
R = r p
3
constant
pi
e = = p
0
p
d
dt
=
r
2
2
0
p
d
dt
=
r
( )
( )
( )
( )
2
2 2
2 2 2
2
2
2
2
i
i p p pi p
pi pi pi
i
pi pi
d
d d d d
dt dt dt dt dt
d
R
dt
e
+
= + + + +
+
= =
1
R r
R r r
r r
R r
r p
0 0 0 0
derivat ives
72
( )
2
1

0 0 and 0 0
0 0 0 0
pi pi pi
R R
R R
e e e e
e
= = = =
1 2 3 1 2 3
2
p p p p p p
r p r p
astronaut is accelerating inward, toward the axis of rotation centripetal acceleration
using Newtons 2
nd
law, acceleration must be produced by the normal force
Np
1
which stops astronaut from falling through the floor.
2

F ma N m R e = =
1 1
p p
therefore to simulate earths normal gravity, it must be spun at a
rate :
2
R g e =
1. 8 Numerical I nt egrat ion
System of first order differential equations
Taylor series
where
73
Runge- Kut t a met hods
RK1 (Eulers method)
RK2 (Heuns method)
74
RK3
RK4
75
Heuns Predictor-Corrector Method
(predictor)
(corrector)
76
Runge-Kutta-Fehlberg method
RK4 is embedded into RK5 to produce the RKF4(5) method.
The cs are the elements of the array
The derivatives are shown on the next slide and use the following a and
b arrays
77
Runge-Kutta-Fehlberg method
Adaptive step size control:
where
See previous slide for the
Fehlberg coefficients ( as,
bs and cs).
e is the truncation error computed as part of the RKF method.
tol is the error tolerance specified by the user of the RKF algorithm.
78
Coordinat es and Rot at ions
Represent a vector in terms of its components about the
unit-basis vectors
in the s-frame:
BOTH are representations of the SAME vector in 2 different coordinate
frames of reference
recall:
79
1 2 3

i i i
A A A = + +
i
1 2 3
A i i i

, ,
1 2 3
i i i
1 2 3

s s s
A A A = + +
s
1 2 3
A s s s
( ) ( )

cos 1cos 0 since , i.e.
2
t
u u u = = = =
1 2 1 2
x y x y i i i i
To calculate the components of a vector, we take the dot product with the
unit-basis vectors (projection)
for example but also , so
80
1
i
A =
i
1
A i
1
i
A =
s
1
A i
1 1 2 3
2 2 1 2 2 2 3 2
3 3 1 3 2 3 3 3
1
2 2 2
3

in vector form:

i s s s
i s s s
i s s s
i
i
i
A A A A
A A A A
A A A A
A
A
A
= = + +
= = + +
= = + +

(
(
=
(
(

s
1 1 1 2 1 3 1
s
1 2 3
s
1 2 3
1 1 2 1 3 1
1 2
A i s i s i s i
A i s i s i s i
A i s i s i s i
s i s i s i
s i s i
1 1
2 2 2
3 3
3 3 3

si
s s
si
s s
s s
R
A A
A R A
A A
(
( (
(
( (
=
(
( (
(
( (

(

3
1 2 3
s i
s i s i s i

The matrix R
si
is the rotation matrix (s-frame to i-frame) since the dot product
of 2 unit vectors is equal to the cosine of the angle between them.
the rotation matrix R
si
is also referred to as the DIRECTION COSINE
MATRIX (DCM)
Observations:
columns of R
si
are the s-unit vectors written in their i-frame components
rows of the R
si
are the i-frame unit vectors written in their s-frame
components
81
Remark: to obtain the matrix which rotates from the i-frame to the s-frame,
we have
82
1

T
is si si
R R R

(

(
( ( = = =
(

(

(

1 1 1 2 1 3
2 1 2 2 2 3
3 1 3 2 3 3
s i s i s i
s i s i s i
s i s i s i
Example (ROLL)
83
i
1
=s
1
i
3
i
2
s
3
s
2
1
( ) ( ) ( )
( ) ( )
1 1 1 1
1 1
1 0 0
0 cos sin
0 sin cos
si
R

(
(
=
(
(

Example (YAW)
84
i
1
i
3
= s
3
i
2
s
2
3
( )
( ) ( )
( ) ( )
3 3
3 3 3 3
cos sin 0
sin cos 0
0 0 1
si
R

(
(
=
(
(

s
1
Example (PITCH)
85
i
1
I
3
I
2
= s
2
2
( )
( ) ( )
( ) ( )
2 2
2 2
2 2
cos 0 sin
0 1 0
sin 0 cos
si
R

(
(
=
(
(

s
1
s
3
2
86
Lets generalize, take the derivative wrt inertial i-frame and express it in its s-frame
coordinates
( )

i
i si s si s
si s si s
d d
R R
dt dt
R R
= =
= +
A
A A A
A A

derivative of the 3 s-frame components of A, i.e. s-derivative
Inertial frame derivative, i.e.
i-derivative
adopt the notation
s
s
d
dt
=
A
A

87
Now, transform the derivative back to the s-unit vectors by pre-multiplying with R
is
( ) ( )
( ) ( ) ( )
1
since
s
i s
is si s si
s
T T
si si s si si
s
T T
si si s si si si si
d d
R R R
dt dt
d
R R R R
dt
d
R R R R R R I
dt
| | | |
= +
| |
\ . \ .
= +
= + = =
A A
A
A
A
A
A

88
Claim: is skew symmetric matrix.
( )
T
si si
R R
definition of skew symmetric matrix:

means that the diagonal elements are zero and the off-diagonal elements must
reverse sign across the diagonal. This implies that is of the form
T
A A =
( )
( )
( )
0
since
and
T
T T T T T T
T
T T
T
T
R R I R R R R R R R R R R
AB B A
A
= + = = =
=

A =
T
R R
3 2
3 1
2 1
0
0
0
T
R R
e e
e e
e e
(
(
=
(
(

Proof:
now calculate
89
( )
3 2 1
3 1 2
2 1 3
2 3 3 2
3 1 1 3
1 2 2 1
0
0
0
s
T
si si s
s
s
s s
si s
s s
s s
A
R R A
A
A A
A A
A A
e e
e e
e e
e e
e e
e e
( (
( (
=
( (
( (

| |
|
= =
|
|
\ .
A
A
angular velocity of s-frame wrt i-frame

Going back to the derivative
s
i s
si
d d
dt dt
| |
= +
|
\ .
A A
A
Rule for transforming derivatives wrt
one frame into derivatives wrt another
frame
Example: spherical pendulum (3D example of acceleration calculation)
90
1
s
2
s
|
L
m
1
i
2
i
( ) ( )
sin cos L u |
( ) ( )
sin sin L u |
( )
sin L u
u
pendulum rod L is constant
constraint force T
angles , , are natural coordinates
|
( ) ( ) ( ) ( ) ( )

sin cos sin sin cos L L L u | u | u = +
1 2 3
r i i i
would like to find the 2
nd
inertial derivative of the position vector and
then apply Newtons 2
nd
law
91
( ) ( ) ( )

force sin cos mg mg T u u = +
2 3
F s s
find inertial acceleration but express it in s-coordinates
2
2
use 0 and 0
s s
d d
L
dt dt
= = =
3
r r
r s
angular-velocity vector of s-frame wrt inertial frame:
( ) ( )

sin cos u | u | u = +
si
1 2 3
s s s

now, find
s
d
dt
si

92
( ) ( )
( )
( ) ( )
( )

sin cos sin cos
s si
d
dt
u | u |u u |u u | u = + + +
1 2 3
s s s

( )
( )
2
2
2 2
use 2
i
s s si s
si si si
d
d d d
dt dt dt dt
= + + +
r
r r
r r
0 0
.now, find
si
r
93
( ) ( )
( )
( )
( ) ( ) ( )

sin cos

sin cos sin
0 0
si
L
L L
L
u | u | u
u | u | u | u u
= +
= = +
1 2 3 3
1 2 3
1 2
r s s s s
s s s
s s

( )
( ) ( )
( )
( )
( )
( ) ( )
( )
( ) ( ) ( ) ( )
( )
2 2 2 2

sin cos sin

sin cos
sin 0

cos sin cos sin
si si
L L
L L
L L L L
u | u | u | u u
u | u | u
| u u
u| u | u u u | u
= + +
=
= +
1 2 3 1 2
1 2 3
1 2 3
r s s s s s
s s s
s s s

finally
94
( ) ( )
( )
( ) ( )
( ) ( )
( )
( ) ( ) ( ) ( )
( ) ( )
( )

sin cos sin cos

sin cos sin cos
0 0

sin cos
s si
d
L
dt
L
L L
u | u |u u |u u | u
u | u |u u |u u | u
| u |u u u
= + + +
= +
= + +
1 2 3 3
1 2 3
1 2
r s s s s
s s s
s s

( ) ( )
( )
( ) ( )
( )
( )
( )
2
2 2 2 2
2

sin 2 cos sin cos sin
i
d
L L L
dt
| u |u u u | u u u | u = + + +
1 2 3
r
s s s

therefore
95
( ) ( )
( )
( ) ( )
( )
( )
( )
( )
( ) ( )
2
2 2 2
: sin 2 cos 0
: sin cos sin
: sin cos
mL
mL mg
mL mg T
| u |u u
u | u u u
u | u u
+ =
+ =
1
2
3
s
s
s

apply m = F a
( ) ( ) ( )
( ) ( )
( )
( ) ( )
( )
( )
( ) ( )
2 2 2 2

sin cos

sin 2 cos sin cos sin
mg mg T
m L L L
u u
| u |u u u | u u u | u
+ =
+ + +
2 3
1 2 3
s s
s s s

special case:
96
( )
( )
( )
2
if constant, 0 , then 1st equation reduces to
: 0 0 and the other two become
: sin
: cos
mL mg
mL mg T
| |
u u
u u
= =
=
=
=
1
2
3
s
s
s
Summary
A vector is an object that is specified by both a magnitude and a
direction. Vector operations include dot product and cross product.
Examples of vectors are velocity and acceleration.
Formulas developed for calculating the time derivatives of moving vectors
are applied to the computation of relative velocity and acceleration.
An attractive feature of the RK schemes is that only the first
derivative f (t,y) is required, and it is available from the differential
equation itself.
Numerical integration schemes require transforming differential equations to
a set of first order differential equations of the form .
Newtons laws of motion must be expressed in an inertial frame of
reference.
97

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ME 4713 Spacecraft Dynamics

and Cont rol

Modeling, st abilit y and cont rol of

Note: magnitude of derivative of r is not equal to the derivative of

can also use show this

inertial velocity expressed

Relat ive Mot ion and t ime

Relat ive Mot ion and t ime

Relat ive Mot ion and t ime

Coordinat es and Rot at ions

Coordinat es and Rot at ions

Coordinat es and Rot at ions

definition of skew symmetric matrix:

angular velocity of s-frame wrt i-frame

Coordinat es and Rot at ions

: sin cos sin

: 0 0 and the other two become

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