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3D Rigid Body Dynamics

1) The document outlines equations of motion for 3D rigid body dynamics, including rotational motion, equations of motion in rotating coordinates, and Euler's equations. 2) It discusses examples like the stability of torque-free motion and gyroscopic motion including steady precession. 3) Key concepts covered include angular momentum, principal axes of inertia, Euler angles, direct and retrograde precession depending on the relative magnitudes of moments of inertia.

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erwin
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166 views22 pages

3D Rigid Body Dynamics

1) The document outlines equations of motion for 3D rigid body dynamics, including rotational motion, equations of motion in rotating coordinates, and Euler's equations. 2) It discusses examples like the stability of torque-free motion and gyroscopic motion including steady precession. 3) Key concepts covered include angular momentum, principal axes of inertia, Euler angles, direct and retrograde precession depending on the relative magnitudes of moments of inertia.

Uploaded by

erwin
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Lectures D25-D26 :

3D Rigid Body Dynamics

12 November 2004
Outline

• Review of Equations of Motion


• Rotational Motion
• Equations of Motion in Rotating Coordinates
• Euler Equations
• Example: Stability of Torque Free Motion
• Gyroscopic Motion
- Euler Angles
- Steady Precession
• Steady Precession with M = 0

Dynamics 16.07 Dynamics D25-D26 1


Equations of Motion
Conservation of Linear Momentum

L̇ = F, L = mvG

Conservation of Angular Momentum

ḢG = MG, HG = IGω

or
ḢO = MO , HO = IO ω

Dynamics 16.07 Dynamics D25-D26 2


Equations of Motion in Rotating Coordinates
Angular Momentum
HG = IGω (or HO = IO ω)
Time variation
- Non-rotating axes XY Z (I changes)
˙ + I ω̇
Ḣ = Iω . . . I˙ big problem!

- Rotating axes xyz (I constant)


Ḣ = (Ḣ)xyz + Ω × H

= I(ω̇)xyz + Ω × H

Dynamics 16.07 Dynamics D25-D26 3


Equations of Motion in Rotating Coordinates

(Ḣ)xyz + Ω × H = M
or,
Ḣx − Hy Ωz + Hz Ωy = Mx

Ḣy − Hz Ωx + HxΩz = My

Ḣz − HxΩy + Hy Ωx = Mz

xyz axis can be any right-handed set of axis, but


. . . will choose xyz (Ω) to simplify analysis (e.g. I constant)

Dynamics 16.07 Dynamics D25-D26 4


Example: Parallel Plane Motion

ωx = ωy = 0, ωz 6= 0

Hx = −Ixz ωz , Hy = −Iyz ωz , Hz = Iz ωz

Body fixed axis Ω = ω (and z ≡ Z)


− Ixz ω̇z + Iyz ωz2 = Mx (1)

−Iyz ω̇z − Ixz ωz2 = My (2)

Iz ω̇z = Mz (3)
Solve (3) for ωz , and then, (1) and (2) for Mx and My .

Dynamics 16.07 Dynamics D25-D26 5


Euler’s Equations
If xyz are principal axes of inertia

• Hx = Ixωx, Hy = Iy ωy , Hz = Iz ωz
•Ω = ω

Ixω̇x − (Iy − Iz )ωy ωz = Mx

Iy ω̇y − (Iz − Ix)ωz ωx = My

Iz ω̇z − (Ix − Iy )ωxωy = Mz

Dynamics 16.07 Dynamics D25-D26 6


Euler’s Equations
• Body fixed principal axes
• Right-handed coordinate frame
• Origin at:
– Center of mass G (possibly accelerated)
– Fixed point O
• Non-linear equations . . . hard to solve
• Solution gives angular velocity components . . . in
unknown directions (need to integrate ω to
determine orientation).

Dynamics 16.07 Dynamics D25-D26 7


Example: Stability of Torque Free Motion
Body spinning about principal axis of inertia,
ωz = ω, ωx = ωy = 0
Consider small perturbation
ωx, ωy ,  ω
After initial perturbation M = 0
Ixω̇x − (Iy − Iz )ωy ωz = 0 (1)

Iy ω̇y − (Iz − Ix)ωz ωx = 0 (2)

Iz ω̇z − (Ix − Iy ) ω ω =0
| x{z y}
(3)
small
Dynamics 16.07 Dynamics D25-D26 8
Example: Stability of Torque Free Motion
From (3) → ωz ≈ ω ≡ constant
Differentiate (1) and substitute value of ω̇y from (2),
→ ...

(Iy − Iz )(Iz − Ix)


Ixω̈x − ω 2ωx = 0
Iy
or,
(Iz − Iy )(Iz − Ix)
ω̈x − Aωx = 0, A=− ω2
Ix Iy
Solutions, √ √
At
ωx = Ae + Be− At

Dynamics 16.07 Dynamics D25-D26 9


Example: Stability of Torque Free Motion
√
•A > 0 → A > 0 → Growth → Unstable

Ix < Iz < Iy , or Iy < Iz < Ix


√
• A < 0 → A = iα → Oscillatory → Stable

Iz > Ix, Iy , or Iz < Ix, Iy

Dynamics 16.07 Dynamics D25-D26 10


Gyroscopic Motion
• Bodies symmetric w.r.t.(spin) axis
Iz = I, Ix = Iy = I0
• Origin at fixed point O (or at G)

Dynamics 16.07 Dynamics D25-D26 11


Gyroscopic Motion
• XY Z fixed axes
• x0y 0z body axes — angular velocity ω
• xyz “working” axes — angular velocity Ω

Dynamics 16.07 Dynamics D25-D26 12


Gyroscopic Motion Euler Angles

φ : Precession
θ : Nutation
ψ : Spin
– position of xyz requires φ and θ
– position of x0y 0z requires φ, θ and ψ
Relation between (φ, θ, ψ) and ω,(and Ω)
ωx = θ̇ Ωx = θ̇
ωy = φ̇ sin θ Ωy = φ̇ sin θ
ωz = φ̇ cos θ + ψ̇ Ωz = φ̇ cos θ

Dynamics 16.07 Dynamics D25-D26 13


Gyroscopic Motion Euler Angles

Angular Momentum
Hx = Ixωx = I0θ̇

Hy = Iy ωy = I0φ̇ sin θ

Hz = Iz ωz = I(φ̇ cos θ + ψ̇)


Equation of Motion,
Ḣx − Hy Ωz + Hz Ωy = Mx

Ḣy − Hz Ωx + HxΩz = My

Ḣz − HxΩy + Hy Ωx = Mz

Dynamics 16.07 Dynamics D25-D26 14


Gyroscopic Motion Euler Angles

become,

I0(θ̈ − φ̇2 sin θ cos θ) + I φ̇ sin θ(φ̇ cos θ + ψ̇) = Mx

I0(φ̈ sin θ + 2φ̇θ̇ cos θ) − I θ̇(φ̇ cos θ + ψ̇) = My

I(ψ̈ + φ̈ cos θ − φ̇θ̇ sin θ) = Mz

. . . not easy to solve!!

Dynamics 16.07 Dynamics D25-D26 15


Gyroscopic Motion Steady Precession

φ̇ = constant, φ̈ = 0
θ = constant, θ̇ = θ̈ = 0
ψ̇ = constant, ψ̈ = 0

Dynamics 16.07 Dynamics D25-D26 16


Gyroscopic Motion Steady Precession

φ̇ sin θ[I(φ̇ cos θ + ψ̇) − I0φ̇ cos θ] = Mx

0 = My

0 = Mz
Also, note that (Ḣ)xyz = 0 →

H does not change in xyz axes


External Moment
Mx = mgzG sin θ

Dynamics 16.07 Dynamics D25-D26 17


Gyroscopic Motion Steady Precession

Then,
I φ̇ψ̇ − (I0 − I)φ̇2 cos θ = mgzG

If ψ̇  φ̇, or, θ ≈ π2 ,

mgzG
φ̇ =
I ψ̇

φ̇: precession velocity,


ψ̇: spin velocity

Dynamics 16.07 Dynamics D25-D26 18


Steady Precession with M = 0

MG = 0 ⇒ HG = constant

HGx = I0ωx = 0

HGy = I0ωy = HG sin θ

HGz = Iωz = HG cos θ

HGy I0 ωy I0
tan θ = = = tan β
HGz I ωz I

Dynamics 16.07 Dynamics D25-D26 19


Steady Precession with M = 0
Direct Precession
From x-component of angular momentum equation,

I ψ̇
φ̇ =
(I0 − I) cos θ

If I0 > I, then β < θ (tan θ = (I0/I) tan β), → φ̇


same sign as ψ̇
Dynamics 16.07 Dynamics D25-D26 20
Steady Precession with M = 0
Retrograde Precession

I ψ̇
φ̇ =
(I0 − I) cos θ

If I0 < I, then β > θ (tan θ = (I0/I) tan β), → φ̇


andψ̇ have opposite signs

Dynamics 16.07 Dynamics D25-D26 21

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