Anda di halaman 1dari 36
TECHNICAL REPORT MATHEMATICAL FUNDAMENTALS or TRAJECTORY DYNAMICS by R. Donati B. B. Gragg G. S. Kondos & & SPACEH € Oh DN OF COCKHEED AIRCRAFT CORPORATION AM? SUNNYVALE, CALIFORNIA 3-80-6i-2 Changed 4 Jan 1963 INSERT LATEST CHANGED PACES, DESTROY SUPERSEDED PAGES. NOTE: The portion of the text offacted by the eure chonge is iniccted by @ vertical line in the LIST GF EFFECTIVE PAGES euler margins of the pose. TOTAL NUMBER OF PAGES IN THIS PUBLICATION IS 107 CONSISTING OF THE FOLLOWING: Page No, Iesve Pitta ee lorie 225. + Changed 4 Jan 1903 acne I Il Changed 4 sar 1963% 2-26 through'2"30. Ostzinel ae TTI TD Original Pat Changed 4 Jan 1903" cee ee Orfginal aa l2I II II I) ostginal n ITIL changed 4 gan ro6se gay 11! Tl changed 4 Jan 1953 Tek thrcugh't18 1112 Ontginel 2-31 through'2-90, 1) Original LB evee sees ll. Changed 4 Jan 1963¢ 3-1 through 3-5. | | Orginal Opener ee Original 3-6 through 8-7. 11] Changed ¢ gan 1905 3.11 through 1d Changed 4 Jen 9639" 3-8) Ortginal 3-13 through 1-19 1 Oxiginel 3-8 through 310 1 Changed 4 dan 2905" 120 eee ees Changed 4 Jen 1963" 3-11 through 3-12! | Original 3-21 through 1-3i 2)! Original 3-13 through 3-14! | Changed 4 Jun 1903* 221 through 2-4 Original 3-15 through 3-16 Orig! Scerertee chmged aivnioese) | seen eae Changed 4 Jan 1963 a6 through 2-8 | 11) Original 3-28 thzeugh's-19! | Original 2a I 1 hanged 4 Jan 3963" 3-20...) Changed 4 Jan 1969* ao 1) Original Original ar IIIT TD changed ¢ gan 1985* Changed 4 den roa" 2-12 throigh 2-18 | 1) Original 5 2 Ontginal 2d ees ea. 1s Changed 4 Jen 1905* 3-25 through'2 25 Changed 4 Jan 1968* 2-18 through 2-17 ||) Original 327. It Original BAS sess +... + Changed 4 Jen 1903 9-28 through's-2@. |) Changed 4 Jon 1969" zas 1) DD original 8-80 through 5-34. Original 2200222222111 Changed 4 Jon 1965" 3-35 Changed 4 Jan r993¢ 2-21 through 2-24 Original ‘The ostersk indicates pages changed, addled, or datoted by the eurrent chong. rene ree emo 1 oa era rea em rem i =m El om = au mo no ss 3-80-G1-2 FOREWORD The purpose of this report is to present those fundamentals of classical analytic me- chanics which are necessary for understanding the simulation of space vehicle motion and performance. Emphasis is placed on concepts, principles, and methods which are especially suitable for use in developing mathematical models of missile trajectory problems for solution on digital computers. For training purposes, there is presented a unified, yet detailed, discussion of coord- inate geometry (especially translations and rotations), elementary matrix and vector operations, and the classical Newtonian physics governing the dynamics of particles and rigid bodies. Such an integrated approach, which is required for familiarization of junior engineers and computer programmers with trajectory simulation, 1s not generally found in the usual textbooks on physics, calculus, and analytic geometry. Furthermore, this manual provides complete development of certain vital theorems which are either omitted in the textbooks or treated as obscure exercises. All topics are developed with mathematical rigor so that the document can sorve as a source book on fundamental questions and principles employed in LMSC digital computer trajectory programs. 7 ' report can serve as an instructional manual for people who have studied analytic Reon etry and elementary calculus but no classical dynamics. It also can be used for review study by indi uals who have taken academic courses In mechanics. iii Section 3-80-61-2 CONTENTS FOREWORD EULER ANGLE COORDINATE TRANSFORMATIONS ep 1.2 1.3 14 Introduction Elementary Matrix Operations Elementary Vector Operations Euler Angles and Direction Cosines DYNAMICS OF A PARTICLE 2a 2.2 2.3 2.4 a5 2.6 2.7 2.8 2.9 Introduction Definition of a Particle Position, Velocity, Acceleration Newton's Laws ‘The Equation of Motion Motion Under a Constant Force Motion Under a Central Force Motion Under an Inverse Square Force Law Kepler's Laws 2.10 Rotational Motion and Angular Velocity 2.11 Non-Inertial Coordinate Systems DYNAMICS OF A RIGID BODY 3.1 3.2 3.3 3.4 3.5 3.6 Introduction and Definition Independent Parameters Linear Motion Angular Velocity ‘Torque and Angular Momentum Components of Angular Momentum and Moments of Inertia Page itt 1-1 11 a1 1-16 2-1 a1 a1 a1 2-6 2-1 211 2-15 2-19 2-24 2-26 g-80-61-2 Changed 4 Jan 1963 Section vi 3.7 Moment Equations for Body Origin at Center of Mass 3.8 Change of Body Orientation 3.9 Moment Equations for Arbitrary Body Origin 3.10 Acceleration of a Point Fixed in the Body 3.11 Euler Angle Derivatives Page 3-13 3-20 3-26 38-31 3-32 Ga =o 4 G8 cst op ss oo mr) cm A 2 ‘ 3-80-61-2 Section 1 EULER ANGLE COORDINATE TRANSFORMATIONS 1.1 INTRODUCTION Deseribing the full dynamics of a missile trajectory involves the use of a number of coordinate reference frames in which the various physical relationships are defined mathematically as vector components. This requires a means of specifying the relative orientation of one frame of reference with respect to another and a systematic method of performing coordinate transformations. Expressing relationships in matrix and vector notation not orly facilitates transforma- tions, but preserves much physical intuition embodied in the notation. ‘The use of co- ordinate transformations makes it possible and desirable to define physical quantities in their most convenient frames of reference. ‘This section first presents the basic matrix and vector operations required to under- stand coordinate transformations, then describes the use of Eulerian angles and direc- tion cosines in accomplishing these transformations. 1.2 ELEMENTARY MATRIX OPERATIONS 1.2.1 A matrix A is a rectangular array of elements of the form Ay Fig *n 4a, Beg + Bon ®m1 Ama mn Le i acvuren mice ce a GPACE COMPANY 3-80-61-2 If m =n, then matrix A is called a square mat: ‘The order of a matrix fe indicated by the number of rows and columns that form its array. For example, matrix A is of order m by n, denoted m xn, where m is the number of rows and n the number of columns. If m =n, the matrix is said to be of order m. 1.2.2 A convenient way of denoting matrix A is (ay) where ie Je and sj; indicates the element in the i row and j* column. 1.2.8 The transpose AT of matrix A is aa fan ‘m1 2 Bae + Ama ®in Ben ®mn which is obtained from A by interchanging rows and columns, 1.2.4 Amatrix x, consisting of one row and n columns, is called an nth order 1-2 LOCKHEED MISSILES & SPACE COMPANY a 3 SS et Se em mm we as co 3 2. et ca iy ms im 3-80-61-2 1.2.8 The transpose, %7, of % is a column vector. 1.2.6 Matrix Sum and Difference. aa a2 a, By eee (eal ae ®m1 Ama ay * Pa = | ta * Pa ®mi * Pmt EXAMPLE: i 2 0 A-[ 1-4 1 +», ‘m2 * Pme Py Pap ss Pan bey Pap + + Pan bar ma Pron Sin) ain aoe te fon * Pon 13 LOCKHEED MISSILES & SPACE COMPANY 3-80-61-2 then 2 0 8 1 2 0 3 2 3 A+B= [1 -4 of + [4 0 -aj= [5 -4 1.2.7 It is evident from an inspection of paragraph 1. 2. 6 that addition of matrices is commutative and associative; that is, A+B=B+A and A+(B+C) = (A+B) +C. 1.2.8 Matrix Products. The product of two matrices A and B is defined only if the number of columns in A is equal to the number of rows in B. If A isan mxn matrix and B is an nxr matrix, then their product AB isan mxr matrix defined as follows: M0 fags Fan Py Mya + Pay ap = | *2l | S22 > Fon Bat eet ar ®m1 m2 Bon} [Pot Baz + + Por Sy Pa te Pa te $8 Pay Bar Pye tizPan t+ ++ + 8am Pao . Aor Pur tPa2Part ++ +@an bay Bar Pap *Pan bop t+ + + *8en Paz mri t@mabar t+ t4mPnt Amie *#maba2 t+ > *MonPae 600990000 eG404455 ayy Heyy by +e. Hay, be, ooo eben ee aeoes Det aee be eee be 96900cq00G09500G Baar t Sindbop t+ tape 1-4 ma rem = ETE Ee ET SS Mw Se so eo ms om cy mm fa Sm Em ss es es 0 AS my cag Kone ha 8-90-61-2 EXAMPLE: It 2 0 3 1 2 0 1 A=/1 -4 of, 4 0 -1l1, 4 ar 3 -2 3 3 then 2 0 8 1 2 0 i =) = C) AB= | 1 -4 0 4 0 -al = |-15 2 4 3 1 3-208 7-0 6 and 2 0 3 1 cbs ac= | 1 -4 0 4] = |-15 3 10 2] [3 7 1.2.9 On inspecting paragraph 1.2.8, we see that multiplication of matrices is associ- ative but not, in general, commutative; that is, (AB)C = A(BC) but AB # BA, in general 1.2.10 Further inspection reveals (paragraphs 1. 2.6 and 1. 2.8) that matrices are left and right distributive with respect to addition; that is, : A(B+C) = AB+AC and (B+C)A = BA +CA. 1-5 $-80-61-2 1.2.11 If 0 is the matrix (bj) such that by = 0 for all i and j,, then 0 is called a null or zero matrix and A+0 =A. 1.2.12 The expression I'= (¢,,) is called an identity (or unit) matrix when it is square matrix whose elemonts are all zeros except for those on the principal diagonal (top left to lower right) which are all ones: 1 0 oO. .0 0 1 0...0 0 0 1. 0 (ey) = 0-0 Orocu It can be shown that AI = A and IB = B, where the indicated products are defined. If A is asquare matrix, then AT = IA = A. 1.2.18 The inverse of matrix A is denoted A” and has the property that both AW7A and AA” are unit matrices. cot 1.2.14 Amatrix A is orthogonal when AAT = 1, an identity matrix. If A is orthog- onal, then its transpose is equal to its inverse; that is, for A orthogonal, AAT =I, “Waal, 2 act “Up aT eal wale at 7 AU(AA)) = A(T), (AT A)AD = AY, TAD = A”, andhence AT = AW. 1.2.15 Linear Transformations. If A isan nxn matrix and X is an ni column vector, then A transforms X into y as follows: order i G1 ela) encls) 7 Ay, yy gg | and & = | xy 31 832 ga 3 1-6 ona =2 os 2a GQ fe oe om om = os rs es im nm i | 38-80-61-2 then the lincar transformation of % by A is 18120 Aas | | 81 * Bie%2 * 83% 1 pean ee Sane ele eet |aece tae, asese ee ley ley 831932 8a | | XB 831% * Bgo%p + 8g9%3 ¥3 as follows: 1171 * Bae * Aas 1071 * Sap¥a t Saa¥g #151 * 8252 * 835%3 | 1.8 ELEMENTARY VECTOR OPERATIONS, 1.3.1 A scalar is a quantity that is characterized by magnitude only or by magnitude and an algebraic sign; e.g., mass, time, distance. 1.3.2 A yector is a quantity which has direction as well as magnitude; e.g., force, velocity, acceleration, It is represented graphically by an arrow whose length indicates magnitude (or modulus) and whose terminus indicates direction It follows from this definition that a vector quantity is preserved when displaced par- allel to itself. 1 LOCKHFEN Migs rs A apaer COMPANY 3-80-61-2 Vector quantities are denoted by letter with an overline; e.g., 2. ‘The magnitude only of a vector quantity is denoted by the letter without the overline, or by indicating the absolute value of the vector; i.e., a or |], In matrix notation, a vector is usually columnar (paragraph 1. 2.5) with each element denoting the value of the respec- tive components of the vector in a coordinate space. Avector & in a right-handed system of coordinate axes OXYZ has its magnitude and direction completely determined by the three component vectors a, , a,» @, in the respective directions y of the coordinate system (Fig. 1). In Fig. 1, it is apparent that the modulus of a is x Fig. 1 If @, 8, and y denote tho angles between 4 and the three component vectors a, ays and &, , respectively, then cos a » eos B = *, and cosy These cosines are known #6 the direction cosines of the vector 4 with respect to the the coordinate system OXYZ. 1-8 LOCKHEED MISSILES & SPACE COMPANY cs rm 8&3 ow 8S ss ws es os “2 ST EB mm Mk “I se os et (ra € mad co mg q ae) eu Le, Re 3-80-C1-2 Changed 4 Jan 1963 1.3.3 Addition of two vectors @ and 6 is shown in Fig. 2. Construct the origin of one of the vectors (e.g., 6) so that it is coincident with the terminus of the other. ‘The resultant vector ¢ , determined by constructing a vector from the origin of & to the terminus of 6, is the sum of @ and Fig. 2 Numerical values can be obtained by employing trigonometric idontities. In this man- ner, any number of vectors can be summed. If B (Fig. 3) is the vector which whea added to & willgive ¢, then a=¢-5 is the difference between ¢ and B. Fig. 3 1.8.4 A vector ¥ multiplied by a scalar s results in the vector s¥, whichis s times greater in magnitude than V and in the same direction if s is positive, but opposite in direction if s is negative, 1.3.5 The vectors i,j, and k (Fig. 4) are unit vectors in the direction of x,y, and z , respectively, of OXYZ. They are defined as having the property Zz Sa Vi}=a, il=a, tk) ea 1 | Thus, if the projections (Fig. 4) of the vector | a on the coordinate axes are boy Ae aya Fig. 4 component vectors 1-9 Lock & SPACE COMPANY 3-80-61-2 Moreover, since A= a +a + a, + In, + Fa, 1.3.6 Scalar (Dot) Product of Two Vectors. The scalar or dot product of two vectors is equal to the product of their magnitudes, multiplied by the cosine of thelr included angle (see Fig. §). Symbolically, lal [6] cos y Fig. 5 It follows that scalar products between unit vectors give the special relationships Consequently, for = Tay + Jay + Re, ond B= By Cia + Jay + Ray) + (Bb, + 3 SR OT T+ Cb T T+ (aby T+ K+ (ayy F i FYB IT-T+ (br T- K+ (abOR- T+ (aby rk 7 + (a,b )R- Sab tab tab, tex * AyPy 2 & SPACE COMPANY om Lx] 3 om os [2 cco ma ca 3-80-€1-2 Changed 4 Jan 1963 ‘The scalar square of a vector Fis 1.3.7 Vector (Cross) Product of Two Vectors. The vector or cross uct ax b of two vectors 4 and 6 (Fig. 6) is equal to the vector whose magnitude is the product axb of their magnitudes multiplied by the sine of their included angle. The cross product is perpendicular to the plane of the two vectors such that a rotstion of vector & about the PLANE OF cross product into vector b would effect a a AND b right-hand screw to advance in the direction 8 7 ofthe cross proiuet. Symbolically, Fig. 6 lax 6] |B] sin @ ies h into a is opposite to that which carries a into b , axb=-bxa If @ = 0 or 180°, then Ja x B= [al [B| sino = 0 [ Also, lax al= lal? sino = 0 [ wid Lock! LES & SPACE COMPANY 2-80-61-2 Changed 4 Jan 1963 Cross products between unit vectors give mm x - x ™ x = x x 7 Consequently, for + Tay + Ke, and b = Tb, + jb, + Rb, Cag + Tay + fa) x (ib, + Toy + By) = DIDT + Cab) DF + (ab, Tx + (aybyTxd + (aby) Td + (aby) PAR + (a, i + (aby RJ + (a,b, Exe - (aby )E ~ (ab) J - (ab + (ayb,)3 + (abd - (aby) i ~ (ayby ~ ayby) T+ (a,b, ~ a,b.) 7 + (aby - ab R which can be written in determinant form as i oj ok a ¥ bbb x yO 1-12 & ca = eae aed Consider a point (x,y,z) in the right-hand system OXYZ (Fi 1.3.9 Vector Derivatives. Consider a vector a which chenges in magnitude and dire: 8-80-61-2 7). The vector determined by the origin O and the point (x,y, 2), where (x,y, 2) ts the terminus, is called the radius vector ¥ of point (x,y,z), and Be ix+iy +f If indicates the motion of a point with respect to time, then, in function notation, F = F(t) and x = x(t),y =y(t), z= 2(t) tion correspondingly with a change ina scalar variable t ; that is, E(t) If t incresses infinitesimally by At, thon a changes infinitesimally by Aa (Fig. 8). Symbolically, fos atda = f(t +Aty. er 5 Bi Hence, the vector differential of & is Fig. 8 Aa = Fit + At) - F(t) and the instantaneous rate of change of & with respect to {as At approaches zero as 2 mit is 1-13 LOCKHEED mean re a emake COMPANY 9-80-61-2 elm ie ean - fut At+0 At which is the vector derivative of a with respect to t. ‘The second derivative of a is obtained in the same way, as in A [i + At) - F(t | “ht Higher order derivatives of @ can be similarly obtained. If k is a scalar variable which is also a function of t , that is, k = F(t), then the differential of the product i of the scalar function k and the vector function a= f(t) is A(ka) = Ad = F(t + at) T(t + at) - F(t) Ect) = F(t + At) F(t + Aty - F(t + At) F(t) + F(t + At) F(t) ~ F(t) FC) and the vector derivative of u with respect to t is ido elim ee Ane im 2 F(t + at) - F(t) at “ At~o AE ~ ateo F(t + At) [! “At a [ze + At) = x] F(t) At+o At LOCKHFED MISGILES & SPACE CO} ep 2 SS 6&5 eS oS es os Ss mm cS =o E Consider the two vectors @ and which are functions of ascalar t. The scalar product of @ and b is a Be ad tad, tab, and the vector derivative of a+ b is ab, a a i *y at ty at te ‘The vector product of @ and b is Ax B= (ab, ~ a,b IT + (ab, - a,b,)F + (ngby ~ &yb,.IE and the vector derivative of 2 xb , where i, j, and & cre constant, is a(x). 4 ' ; 7 -@ [ey = aby )T + (aby = ,b,)7 + (aby ~ yb, IR | (yb, ~ aby yT + (ayb, ~ ay T+ (aby ~ ab, 7 + (a,b, - 8b) + (ab, - a BLK + (2,0, - a BIE Px ~ xP, Py > By Pa aby 7 yx he SPACE COMPANY LockHEED Mi 1,4 EULER ANGLES AND DIRECTION COSINES "i u 1.4.1 Consider a point P relative to the right-hended coordinate system OXYZ (Fig. 9). The angles a, B, end y 3 betwoen the rey OP end the X, ¥, and , Z axes, respectively, are direction angles | of OP. The cosines of these angles cos a = ¥, cos = ¥ and cos y = 2 : é A 1 ] where u | J Fig. 9 5 are called the direction cosines of the ray OP. Now consider two right-handed coordinate systems OXY% end OX'Y'Z' which have fl u a a. common origin (Fig. 10). If the angles between respective coordinate axes are 1] given by : A oz. 5) au 54 % % bi then the direction cosines of the OX', OY", a] and OZ! axes relative to the OX, OF , : and OZ axes are r i Fig. i0 1-16 [ LOCKHEED LES & SPACE COMPANY | mae & j ] x % ty Core = 608 Oy = Eos Cray = C08 fy = a, Owe OB x, y, 2 = =a . = 2 = a Cyr = 008 By = Bos Cyry = 08 By ay? Cyn 78 2 x, y, 2, = 3 - 3 = ay Sarg = 008 Oy = Bos Cyry ~ C08 By 3g? Cae OF Ps where | eae = feayea ee - [2.242 8p YX ty] HAs By = xy typ t 2Ds By = fay ty + 25 and the points (x1 ¥,1 44) + (Xp+¥gs Zp)» (%y,¥gs 23) axe onthe OX', OY", and OZ' axes, respectively. Using vector notation, the point (x,, y,, z,) is the texminus of the vector FR +H, +3, where 4 Exp yy = Fyys and 2, 1 Since 8, les along the OX' axis, the unit vector i* along this axis is given by Teor a, +3 cos fy +f eos 1 LOCKHEED MISSILES & GPAre couosny 3-80-61-2 . ‘The sbove process, then, produces the three unit vectors I = Tcos a, +] cos py +R cos 7, Js jt = Tcos ay +j cos B, + & cos 7, B= Teos ay +] cos fy + 008 7 which give the following table of direction cosines: ——i____k_ Hla ¢ xx Sxty Alle BL Cy Cyy Cyag BL Cry Cate Cate where the prime superscripts have been omitted for brevity. ‘The transpose of matrix A Is then o C, ‘yx ox v = c, ¢ oy yy ay Gh c, c x” ye 0, 1-18 LOCKHEEN Mics a epaen easin 7 a e9 oS ©3 OM a om =3 (3 cp i m4 } i 3-80-61-2 Consider the matrix product Cree Sve Sx] aa = lo Gy Cy, ay Cex Say Cae | Exz zoe (ex + c, +02 ) (Cex°yx + Oy Cy 4 nay) Caen + sCyy + CC) ene 8) See) nan * yay Spe) + ; 2 ek ac? xno * Sry “Sear yn * Casey *Cax’ye) (Ci y+ C2) Each element of the above matrix can be shown to be equivalent to some scalar product of two of the unit vectors 7, j*, For example, 3-80-61-2 : Changed 4 dan 1963 Hence, the product 1 0 0 Weal | 0 oo 4 which is the identity matrix I (Section 1. 2.12). Therefore, the matrix A of direction cosines is orthogonal (Section 1.2. 14), and iis transpose is equal to its inverse. Suppose now that a vector is given by Then, substi Px + yt + Rta! uting the preceding relationships for i', j', and &! we obtain WO + icy + hic, + icy, + Itc, + hye, + inc, + Tec, + hele, again omitting the superscripts from the C's for brevity, Regrouping in terms of 1, J, and K, we obtain ay P= THC, THC, + ICL) + T(E, ty, + 2IC,,) Ee oe) 1-20 LOCKHEED MISSILES & SPACE COMPANY ema J ] ow 3-80-61-2 The quantities in parentheses are thus precisely the components of the vector p ex- pressed in the OXY coordinate system. If we call these coordinates x,y, and z, then ag Cee ocr ec =x +y!G + 2IC, YE Cy FV + 2C yy Za HC, ty, + UC, These relationships can be written in vector-matrix notation as x Gye Spy] Px! = 1c Cc uy ay vy ay z Cy, cL, ‘The matrix of direction cosines is said to be the matrix which transforms the OX'Y'Z! coordinate system into the OXY% coordinate system. Since this matrix is orthogonal, we can write + -1 x Cee Oye CexT PR] [Ce Sy Oe = fe Cc * Oy 2 ue yx yy yz 2] Jo, ¢ el |\creac which is the transformation from OXYZ back into OX'Y'Z!. LockHEED Ck + Cy # Oy Co xt yee yak * Cy * ya! OX + Oy + C7 1-21 SLES & SPACE CoMmany 3-80-61-2 nute frames OXYZ and OX'Y'Z! involves the Another method of relating the two coord: use of Euler (Eulerian) angles. These angles are obtained by determining the sueces- sive angles of rotation through which one frame must be rotated iu order to meke it coincident with the other frame. Yor example, OXYZ can be brought into coincidence with OX'Y'Z! by: A NOTE A different perspective is used in Figs. Lithrough 13from that used in Fig. 10. (1) A rotation through an angle about OZ = to make OY coincident with OV, which is Ci Plane or f ’ een te eres Dy) OXY and OX'Y! (Fig. 11); oo u (2) A rotation through an angle @ about OV, ee the now position of OY, to meke OZ co- oe incident with 02" (Fig. 12); and (8) A rotation through an angle y about OZ! {the new position of OZ) to make OV(the new position of OY) coincident with OY! (Fig. 18). During the three rotations, OX went in turn to OW, OW’, then OX". BV |Z PLANE 1 ROTATION x PLANE OF ROTATION Fig. 12 Fig. 13 1-22 LOCKHEED MISSILES & SPACE COMPANY Sea es eo oe es eet oes f t exg kes The angles ¢ , 0, and ¥ are the Euler angles. ‘The relative orientation of two co- ordinate systems in terms of Euler angles is developed in the next section. 1.4.2 Roll, Pitch, an: Consider a single rotation through angle @ of axis O¥! from axis OY Fig. 14). The direction cosines relating the two frames OXYZ and OX'Y!Z! would then be hoo 0 Peo To = [0 cose cos (F-9)] = ]o cose sing 0 cos (E+) cos 4 0 -sing cos 6 ‘The point P can be referenced to the new frame through the following relations of coordinates x1, y', and zt: 30K xy xe. + 20y, = yoos@ + z8ing w= xC,, +yC,y +20, = -ysing +2008 $ These equations may be expressed as the matrix equations LOCKHEED MISSIL & SPACE COMPANY 3-80-61-2 0 a 1 0 0 x x] 1 0 0 xt y']=]o cose sing | ly or y}=|0 cos¢ -sing| |x 2 0 -sing cos ¢] [z. 2 0 sing cose} [at ‘The matrix 1 o o 0 cosd sing 0 -sing — cos ¢. is commonly known as the roll matrix; that is, a rotation of the YZ plane about the X axis is known as a roll. 1.4.3 Generating the X'Y'Z! frame hy a rotation of the XZ plane through an angle in the 9 about the ¥ axis (Pig. 15) resul Zz a direction cosines 0 coa(E+0)] feosa 0 sino 1 0 |efo a 0 -@) 0 cos é sin @ o cos 0 1-24 ED MISSILES & SPACE COMPANY eo ors se mS ss 3-80-61-2 known aa the pitch matrix, and also results in the referencing of which is emmmor! point P to the new frame through the following relations of coordinates x", y", and 2): xi = xC, tC, +2C,, = xeos 0 - zsino Hex tyC +20) = WS RE yx VE yy * PCyn * ¥ x ” xsin 0 +5 cos 6 " B= xC,, +¥C,y + 20, ‘ax 22. ‘These equations may be expressed as x! cos0) 0 - sin 0] [x x cos 6 0 sine) [x' for lye 0 1 o {fy " ° 2 z z 1.4.4 Generating the X'Y'Z' frame by rotation of the X¥ plane through an angle # about the Z axis (Fig. 16) results in the vw direction cosines ; x! e x Fig. 16 oy 0% yy o) ‘cos ¢ cos (F =") °) cos sing 0 Cy, Cy, 1 = feos (E48) cos ¥ 0} =]-siny cose 0 Cry °, ° 0 4 ° _ io 3-80-01-2 . which is commonly known as the yaw matrix, and also results in the referencing of point P to the new frame through the following relations of coordinates x! , y', and 2h: X= XC HyC +20, = xcosy ty sing -x sin y + y cos ¢ =e xt cos sin y 07 fx x cosy = -siny 0] [x"] yt ~sin y cos y ol fy or y|=|siny cosd = of ly a 0 0 1 Lz, 2 0 0 ale 1.4.5 Suppose we wish to accomplish a roll, followed by a pitch, followed by a yaw. If A is the roll matrix, B the pitch matrix, and C the yaw matrix, then the process would be x ad 4 x! x aay Roll fyt} = Aly]. pitch Jy" |= Bly], yaw ym] = c lyn 2 am om 1-26 LOCKHEED MISSILES & SPACE COMPANY = oo 83 om em so ss co FM SM oo © oo U a se een B-80-61-2 By substitution, we obtain tt i yt} = cpa ly am 5 Thus, it would be possible to first perform the matrix multiplication CBA (which is not, in general, commutative), thereby resolving the roll, pitch, and yaw to the single matrix M , as in am a a yt} = uly] = cpa ly am A fT 1.4.6 A roll about the X axis, followed by 2 pitch about the resulting Y" axis, followed by @ yaw about the resulting Z! axis may be accomplished as follows: Yaw © Pitch Roll x cosy) sing 0] foos®@ 0 — -sin 9] [x ° ° [° y'| = |-sing cose 0 0 1 0 0 coss sing | ly 0 0 1} [sin @ 0 cos 6 oO -sing cos o z cos o sin p 0 cos @ sin @sind -sin 6 cos } x =|-siny cosy a] | 0 cos ¢ sing y 0 oO i sin 0 ~cos @ sin > cos 6 cos ¢ z 2 del open yee eC u — 1-27 sk > cas8 | tea 45256) 3-80-61-2 cos ¥ cos 6 cosy sind sing + sin Y cost = |-sin ¢ cos 6 -sin Y sin 9 sing + cos ¥ cos $ sin 6 -cos 6 sing -cos ¥ sin 8 cos @ + sin p sing] [x sin ysin 8cos ¢ + cospsind| ly cos 0 cos ¢ t In what follows, we show that the nine elements of the transformation matrix in terms of the Euler angles $y, and @ are precisely the direction cosines relating the OXYZ and OX'Y'Z! frames. For simplicity, let the above transformation matrix be represented by the matrix D, D, D ex xy 7 p-=|p, D D, yx yy ye Pox Diy Pax Let us define three vectors p, , Py. and p, with the following components in the OXYZ coordinate eystem: D i zy 07 a es on mm 8 os me oo ] 3 was 2 3-80-61-2 We now find the components of p, in the OX'Y'Z' coordinate system by applying the transformation D to By Dy yn] [Pye Pr ]Pyx Poy ya] | Pay Dee yy yz | | yg = (DE, + Dy, + DE,)T + (DD. + DyyDyy * Dy_Dy) (DDE D, yyy + Dy Dyy) By actual substitution of the trigonometric Identities for the elements of matrix D (which is left as an exercise for the reader), we obtain Py = H+ oft + oF Thus, By is the unit vector along the X' axis of the OX'Y'Z' coordinate system. Similarly, we can show that py = jt and pg =k. The angles between the OX'Y'Z! and OXYZ axes were listed previously and are repeated here for convenience. b MISSILES & SPACE COMPANY 3-80-61-2 Now But +.) + (4 +0] +08) Therefore, Similarly, but xy and, therefore, Pay = Say By similar means, we can show that Px Pay Pe Sx Say xe D D df = fc, © c yx yy Oy yx Sy “yx Pax Pry Pex Sx Say an LOCKHEED MISSILES p eon an matina nee Pome ores oo crs NT I ZT oe 3 os co oe ea) ben 3-80-61-2 Thus, the elements of matrix D are the direction cosines relating the OX'Y'Z! and OXYZ coordinate systems, and we have shown how to compute the direction cosines from the Euler angles @ , @, and ¥. We can now simplify our notation in expressing the roll, pitch, yaw transformation to Ree cee cee sce (al ice ces ocr =lc c, = yee a yx Spy Gynt IY = | Oya + Cy # Oye #] [Gx Gy Saf lel [ex + yy + Cpe Since matrix multiplication is not, in general, commutative, it is essential that the transformations be 2ecomplished in the order implied. ‘The example above exhibits first a roll (by showing it as the first multiplier of the coluinn vector), then a pitch, and finally ayaw. ‘The number and order of rotations is det. the physical problem. rmined by the nature of 1-31 LOCKHPER Masi ee sen ane nesine

Anda mungkin juga menyukai