10: Vehicle Inertial Dynamics
- Page ID
- 47279
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- 10.1: Momentum of a Particle
- We consider the rigid body dynamics with a coordinate system affixed on the body. We will develop equations useful for the simulation of vehicles, as well as for understanding the signals measured by an inertial measurement unit (IMU). Conventions for the standard body-referenced coordinate systems on a vehicle. Dynamics in the body-referenced frame for a particle, since particles can be summed together to equate to a rigid body.
- 10.2: Linear Momentum in a Moving Frame
- Linear momentum equations for an object whose frame of reference is moving, accounting for possible difference between between the mass center and the origin of the reference frame. Introduction to the coordinate system conventions that will be used in this and future sections of Chapter 10.
- 10.3: Example - Mass on a String
- Three different methods of considering the movement and reference frames of an object on a string being swung in a circle; the expression to calculate for centripetal force in this situation is shown to be the same regardless of the method used.
- 10.4: Angular Momentum
- Equations for the angular momentum of a particle, including full expansion of summed equation.
- 10.5: Example: Spinning Book
- Example to determine the stability of rotation about each of the main axes of an object, rotated with constant angular rate, using the angular momentum equations.
- 10.6: Parallel Axis Theorem
- Translating mass moments of inertia referenced to the object's mass center to another reference frame with parallel orientation, and vice versa.
- 10.7: Basis for Simulation
- Establishes the terms to be used for writing a full nonlinear rigid-body simulation, in body coordinates.
- 10.8: What Does an Inertial Measurement Unit Measure?
- The use of combined perpendicular triads of accelerometers and angular rate gyros to measure IMUs and derive pitch and roll for a vehicle.