Figure 7.12. Schematic of the mathematical model. a-Eulcr angle; cu?, initial angular velocities; initial velocity; commands to drives; B matrix of connection between instantaneous angular velocities and velocities of change in Euler angles. 1. calculation of momentum on body 1; 2. calculation of total force on body 1; 3. calculation of momentum on body 2; 4. six-degree unit; 5. model of control system of body 1; 6. model of control system of body 2; 7. control of rotational motion of body 1; 8. equations of forward motion of body 1; 9. equations of forward motion of body 2; 10. equations of rotational motion of body 2; 11. velocities of drives; 12. length of drives.
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