笔记-六自由度线性化运动模型

航天器的空间旋转角速度$\mathbf{\omega }$等于航天器本体坐标系$Oxyz$相对于质心轨道坐标系$O{x}_0{y}_0{z}_0$的旋转角速度矢量${\mathbf{\omega }}_r$与质心轨道坐标系$O{x}_0{y}_0{z}_0$相对于惯性坐标系$O^{\prime }XYZ$的牵连角速度${\mathbf{\omega }}_e$之和，即：
$$\mathbf{\omega }={\mathbf{\omega }}_r+{\mathbf{\omega }}_e\text{\hspace{1em}(1)}$$

将$(1)$投影至航天器本体坐标系中，有
$$\mathbf{\omega }={\mathbf{\omega }}_r+B{\mathbf{\omega }}_e\text{\hspace{1em}(2)}$$

即
$$\left[\begin{array}{c}{\omega }_x\\ {\omega }_y\\ {\omega }_z\end{array}\right]=\left[\begin{array}{c}\dot{\phi }\\ \dot{\theta }\\ \dot{\psi }\end{array}\right]+B\left[\begin{array}{c}0\\ -{\omega }_0\\ 0\end{array}\right]\text{\hspace{1em}(3)}$$

其中，$B$为质心轨道坐标系$O{x}_0{y}_0{z}_0$到本体坐标系$Oxyz$的转换矩阵（123转序）：

$$\begin{array}{rl}B& =M_3(\psi )M_2(\theta )M_1(\phi )\\ & =\left[\begin{array}{ccc}\cos \psi & \sin \psi & 0\\ -\sin \psi & \cos \psi & 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}\cos \theta & 0& -\sin \theta \\ 0& 1& 0\\ \sin \theta & 0& \cos \theta \end{array}\right]\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \phi & \sin \phi \\ 0& -\sin \phi & \cos \phi \end{array}\right]\\ & =\left[\begin{array}{ccc}\cos \theta \cos \psi & \sin \phi \sin \theta \cos \psi +\cos \phi \sin \psi & -\cos \phi \cos \psi \sin \theta +\sin \phi \sin \psi \\ -\cos \theta \sin \psi & -\sin \phi \sin \theta \sin \psi +\cos \phi \cos \psi & \cos \phi \sin \psi \sin \theta +\sin \phi \cos \psi \\ \sin \theta & -\sin \phi \cos \theta & \cos \phi \cos \theta \end{array}\right]\end{array}$$

当旋转角$\phi$、$\theta$、$\psi$都是小于$1\text{rad}$的小量时，转换矩阵$B$可以简化为：
$$B=\left[\begin{array}{ccc}1& \psi & -\theta \\ -\psi & 1& \phi \\ \theta & -\phi & 1\end{array}\right]$$

那么，式$(3)$可以变为：
$$\left[\begin{array}{c}{\omega }_x\\ {\omega }_y\\ {\omega }_z\end{array}\right]=\left[\begin{array}{c}\dot{\phi }\\ \dot{\theta }\\ \dot{\psi }\end{array}\right]+\left[\begin{array}{ccc}1& \psi & -\theta \\ -\psi & 1& \phi \\ \theta & -\phi & 1\end{array}\right]\left[\begin{array}{c}0\\ -{\omega }_0\\ 0\end{array}\right]\text{\hspace{1em}(4)}$$

即
$$\{\begin{array}{rl}{\omega }_x& =\dot{\phi }-{\omega }_0\psi \\ {\omega }_y& =\dot{\theta }-{\omega }_0\\ {\omega }_z& =\dot{\psi }-{\omega }_0\phi \end{array}\text{\hspace{1em}(5)}$$

对上式进一步求导，可得：
$$\{\begin{array}{rl}{\dot{\omega }}_x& =\ddot{\phi }-{\omega }_0\dot{\psi }\\ {\dot{\omega }}_y& =\ddot{\theta }-{\omega }_0\\ {\dot{\omega }}_z& =\ddot{\psi }-{\omega }_0\dot{\phi }\end{array}\text{\hspace{1em}(6)}$$

本体坐标系中航天器姿态动力学方程：
$$\{\begin{array}{rl}{I}_x\frac{\text{d}{\omega }_x}{\text{d}t}+{\omega }_y{\omega }_z(I_z-I_y)& =M_x\\ I_y\frac{\text{d}{\omega }_y}{\text{d}t}+{\omega }_x{\omega }_z(I_x-I_z)& =M_y\\ I_z\frac{\text{d}{\omega }_z}{\text{d}t}+{\omega }_x{\omega }_y(I_y-I_x)& =M_z\end{array}\text{\hspace{1em}(7)}$$

将式$(5)$和$(6)$代入式$(7)$，化简可得
$$\{\begin{array}{rl}{M}_x& =I_x\ddot{\phi }+(I_y-I_z-I_x){\omega }_0\dot{\psi }+(I_y-I_z){\omega }_0^2\phi \\ M_y& =I_y\ddot{\theta }\\ M_z& =I_z\ddot{\psi }-(I_y-I_z-I_x){\omega }_0\dot{\phi }+(I_y-I_x){\omega }_0^2\psi \end{array}\text{\hspace{1em}(8)}$$

进一步忽略轨道角速度耦合因素，或轨道角速度${\omega }_0$很小（地球同步轨道），上式可以进一步简化为：
$$\{\begin{array}{rl}{M}_x& =I_x\ddot{\phi }\\ M_y& =I_y\ddot{\theta }\\ M_z& =I_z\ddot{\psi }\end{array}\text{\hspace{1em}(9)}$$

Tips

$\varphi$和$\phi$是同一个希腊字母，不同的写法，具体差别见知乎：\varphi与\phi有什么区别吗？和What does the \var prefix stand for in \varphi and \varepsilon etc?。常见的有：
$$\begin{gathered} \phi \text{and}\varphi \\ \vartheta \text{and}\theta \\ \epsilon \text{and}ϵ \\ \varrho \text{and}\rho \\ \varsigma \text{and}\sigma \\ \varpi \text{and}\pi \end{gathered}$$

奇奇怪怪。。。

参考文献

1. 课件：第三章 航天器姿态运动学和动力学
2. 黄圳圭. 航天器姿态动力学[M]. 国防科技大学出版社, 1997.