关于此课程： As they tumble through space, objects like spacecraft move in dynamical ways. Understanding and predicting the equations that represent that motion is critical to the safety and efficacy of spacecraft mission development. Kinetics: Modeling the Motions of Spacecraft trains your skills in topics like rigid body angular momentum and kinetic energy expression shown in a coordinate frame agnostic manner, single and dual rigid body systems tumbling without the forces of external torque, how differential gravity across a rigid body is approximated to the first order to study disturbances in both the attitude and orbital motion, and how these systems change when general momentum exchange devices are introduced. After this course, you will be able to... *Derive from basic angular momentum formulation the rotational equations of motion and predict and determine torque-free motion equilibria and associated stabilities * Develop equations of motion for a rigid body with multiple spinning components and derive and apply the gravity gradient torque * Apply the static stability conditions of a dual-spinner configuration and predict changes as momentum exchange devices are introduced * Derive equations of motion for systems in which various momentum exchange devices are present Please note: this is an advanced course, best suited for working engineers or students with college-level knowledge in mathematics and physics.
此课程适用人群： This class is for working engineering professionals looking to add to their skill sets, graduate students in engineering looking to fill gaps in their knowledge base, and enterprising engineering undergraduates looking to expand their horizons.
制作方： University of Colorado Boulder
教学方： Hanspeter Schaub, Alfred T. and Betty E. Look Professor of Engineering
Department of Aerospace Engineering Sciences
| 级别 | Advanced |
| 承诺学习时间 | Best completed in 4 weeks, with a commitment of between 2 and 5 hours of work per week. |
| 语言 | English |
| 如何通过 | 通过所有计分作业以完成课程。 |
| 用户评分 |
授课大纲
第 1 周
Continuous Systems and Rigid Bodies
The dynamical equations of motion are developed using classical Eulerian and Newtonian mechanics. Emphasis is placed on rigid body angular momentum and kinetic energy expression that are shown in a coordinate frame agnostic manner. The development begins with deformable shapes (continuous systems) which are then frozen into rigid objects, and the associated equations are thus simplified.
19 视频
- 视频: Kinetics: Course Introduction
- 视频: Module 1 Introduction
- 视频: Overview of Kinetics
- 视频: 1: Continuous System Super Particle Theorem
- 视频: 2: Continuous System Kinetic Energy
- 视频: 3: Continuous System Linear Momentum
- 视频: 4: Continuous System Angular Momentum
- 视频: Optional Review: Continuous Momentum and Energy Properties
- 视频: 5: Rigid Body Angular Momentum
- 视频: 6: Rigid Body Inertia Tensor
- 视频: 6.1: Rigid Body Inertia about Alternate Points
- 视频: 6.2: Rigid Body Inertia about Alternate Body Axes
- 视频: 7: Rigid Body Kinetic Energy
- 视频: 8: Rigid Body Equations of Motion
- 视频: 8.1: Integrating Rigid Body Equations of Motion
- 视频: 8.2 Example: Slender Rod Falling
- 视频: (Tips for Solving Spring Particle Systems)
- 视频: Optional Review: Rigid Body Properties
- 视频: Optional Review: Rigid Body Equations of Motion
已评分: Concept Check 1 - Super Particle Theorem
已评分: Concept Check 2 - Kinetic Energy
已评分: Concept Check 3 - Linear Momentum
已评分: Concept Check 4 - Angular Momentum
已评分: Concept Check 5 - Angular Momentum
已评分: Concept Check 6 - Parallel Axis Theorem
已评分: Concept Check 6.1 - Coordinate Transformation
已评分: Concept Check 7 - Kinetic Energy
已评分: Concept Check 8 - Equations of Motion
第 2 周
Torque Free Motion
The motion of a single or dual rigid body system is explored when no external torques are acting on it. Large scale tumbling motions are studied through polhode plots, while analytical rate solutions are explored for axi-symmetric and general spacecraft shapes. Finally, the dual-spinner dynamical system illustrates how the associated gyroscopics can be exploited to stabilize any principal axis spin.
17 视频
- 视频: Module 2 Introduction
- 视频: 1: Torque Free Motion Polhode Plots
- 视频: 1.1 Example: Special Polhode Plots
- 视频: 2: Torque Free Motion Axisymmetric Solution
- 视频: 3: Torque Free Motion General Inertia Case
- 视频: 4: Torque Free Motion Integrals of Motion
- 视频: 5: Torque Free Motion Phase Space Plots
- 视频: 5 Example: Phase Space Plots for Varying Energy Levels
- 视频: 6: Torque Free Motion Attitude Precession
- 视频: 6 Example: Phase Space Plot of Duffing Equation
- 视频: Optional Review: Torque Free Motion
- 视频: 7: Dual Spinner Equations of Motion
- 视频: 8: Dual Spinner Spin Equilibria
- 视频: 9: Dual Spinner Linear Stability
- 视频: 9 Example: Dual Spinner Stability
- 视频: 9.1: Spin Up Considerations
- 视频: Optional Review: Dual Spinner EOM and Equilibria
已评分: Concept Check 1 - Rigid Body Polhode Plots
已评分: Concept Check 2 - Torque Free Motion with Axisymmetric Body
已评分: Concept Check 3 - Torque Free Motion General Inertia
已评分: Concept Check 4 - Torque Free Motion Integrals of Motion
已评分: Concept Check 5 - Torque Free Motion Phase Space Plots
已评分: Concept Check 6 - Torque Free Motion Precession
已评分: Concept Check 7 - Dual Spinner Equations of Motion
已评分: Concept Check 8 - Dual Spinner Equilibria
已评分: Concept Check 9 - Dual Spinner Linear Stability
第 3 周
Gravity Gradients
The differential gravity across a rigid body is approximated to the first order to study how it disturbs both the attitude and orbital motion. The gravity gradient relative equilibria conditions are derived, whose stability is analyzed through linearization.
7 视频
- 视频: Module 3 Introduction
- 视频: 1: Gravity Gradient Torque Development
- 视频: 1.1: Gravity Gradient Torque in Body Frame
- 视频: 1.2: Gravity Gradient Net Spacecraft Force
- 视频: 2: Gravity Gradient Relative Equilibria Orientations
- 视频: 3: Gravity Gradient Linear Stability about Equilibria
- 视频: Extra Example: Gravity Gradient Polar Pear Mission
已评分: Concept Check 1 - Gravity Gradient Derivation
已评分: Concept Check 2 - Gravity Gradient Equilibria
已评分: Concept Check 3 - Gravity Gradient Linear Stability
第 4 周
Equations of Motion with Momentum Exchange Devices
The equations of motion of a rigid body are developed with general momentum exchange devices included. The development begins with looking at variable speed control moment gyros (VSCMG), which are then specialized to classical single-gimbal control moment devices (CMGs) and reaction wheels (RW).
7 视频
- 视频: Module 4 Introduction
- 视频: 1: Introduction to Momentum Exchange Devices
- 视频: 1.2: Overview of Momentum Control Devices
- 视频: 2: VSCMG Equations of Motion Development
- 视频: 3: VSCMG Motor Torque Equations
- 视频: 4: VSCMG EOM Variations
- 视频: Optional Review of Momentum Exchange Devices
已评分: Concept Check 1 - Overview of Momentum Exchange Devices
已评分: Concept Check 2 - VSCMG Equations of Motion
已评分: Concept Check 3 - VSCMG Motor Torque Equations
已评分: Concept Check 4 - VSCMG EOM Variations
已评分: Kinetics Final Assignment
常见问题解答
运作方式
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制作方
University of Colorado Boulder
CU-Boulder is a dynamic community of scholars and learners on one of the most spectacular college campuses in the country. As one of 34 U.S. public institutions in the prestigious Association of American Universities (AAU), we have a proud tradition of academic excellence, with five Nobel laureates and more than 50 members of prestigious academic academies.
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评分和审阅
Excellent course ,as expected from Dr.Schaub
Works for me.
The best course on Space Dynamics with insightful lectures and challenging assignments. This course perfectly complements the previous course on the Kinematics of Spacecraft, and collectively provides a fundamental base for studying Attitude Control. Prof. Schaub has got exceptional skills in imparting knowledge on tough concepts fairly easily to the students. Looking forward to completing the final course on Nonlinear Attitude Control in the module!
Course is very good and well explained, the main problem is the lack of assistence especially when doing exercise and the final exam. In particular, only few people are doing the course and the forum is always w/o any reply, and when doing the final exam, I had to change session three times because not enough people were correctint my assignment, causing me a delay of 2 months.