% Demonstrate gimballed boom actuation with set gimbal commands. This demo uses the PlateWithBoom CAD model. The gimbals have a 1-2 sequence, first around the X axis and then around the Y axis. The boom is nominally aligned with the body X axis. Note that the inner gimbal zeros itself before the outer gimbal is rotated to avoid intermediate torques. There are two sets of gimbal angles describing every boom position, and GimbalRates will choose the closest path, which may differ from the commanded angles. The command sequence is: [alpha] = [0 0.0 pi/2 5pi/4 0], outer gimbal (1) [beta ] [0 0.5 0.5 h 0.8 0], inner gimbal (2) The commands change at 100 second intervals. When interpreting the torques recall that T = (Cp - Cm) x F where in this case F is nominally along the -X axis, Cp is the center of pressure which is the origin, and Cm is the center of mass. This means that we would expect the following Cm displacement: [0, -Z, +Y, -Y and +Z, 0] with the following torques: [0, -Y, -Z, +Y and +Z, 0] The attitude dynamics assume fixed gimbal rates. The CAD model is a perfectly specular plate with a control boom. Functions demonstrated: PlateWithBoom HGimballedBoom TwoBodyRateModel SailDisturbance GimbalRates Since version 7. ------------------------------------------------------------------------ See also ACPlot, CrossSection, DrawSCPlanPlugIn, Eul2Mat, QMult, QPose, Constant, WaitBarManager, Plot2D, TimeLabl, Cross, Mag, RK4, Unit, JD2000, El2RV, GimbalRates, HGimballedBoom, ConeClockToQConstrained, QSail, QToConeClock, HingeRotationMatrix, SailDisturbance, SailEnvironment ------------------------------------------------------------------------ % ------------------------------------------------------------------------------- Copyright (c) 2005,2006 Princeton Satellite Systems, Inc. All rights reserved. -------------------------------------------------------------------------------

AeroUtils: CAD/CrossSection AeroUtils: CAD/DrawSCPlanPlugIn Common: Database/Constant Common: General/WaitBarManager Common: Graphics/Plot2D Common: Graphics/TimeLabl Common: Quaternion/QMult Common: Quaternion/QPose Common: Time/JD2000 Common: Transform/Eul2Mat Math: Integration/RK4 Math: Linear/Cross Math: Linear/Mag Math: Linear/Unit OrbitMiniToolbox: Support/El2RV Sail: Actuator/GimbalRates Sail: AttitudeDynamics/HGimballedBoom Sail: Coordinates/ConeClockToQConstrained Sail: Coordinates/QSail Sail: Coordinates/QToConeClock Sail: Disturbances/HingeRotationMatrix Sail: Disturbances/SailDisturbance Sail: Disturbances/SailEnvironment