Cosmit Reseuth,lb!. J5, No. J, tn7, pp 260-267. Tmnrlatedlntm Konh htslic lssledmnnlvoV{' 35,No' j' 1997'17.

279'2U'
Originnl Ru.rsioaTcrt C,yt'ritht O 1947ht A.slano,fimht'r.

Transient Modes of SpacecraftAngular Motion

on the Upper Sectionof the Reentry Trajectory
V. S. Aslanovand I. A. TlmbaY
Samura Slate Aerospace Universiry,Samara, Ru.ssia
August7,1996
Received

Abctract-'fhe motion of an uncontrolled spacecraftaround its center of mass is considered,the restoring

acrodynamicmoment of the spacccraftbcing describcdby an odd Fourierseriesin the angle of attackwith
the two firsr harmonics.The evolution of phasetrajectoriesis studiedon the basisof analysisof an action
intcgral,f<rrwhich the analyticalformulasare obtainedin full elliptic integralsor elementaryfunctions.Thc
momentsof transitionhetweenvariousphaseplane regionsand boundaryconditionsfor kinematicpsrame'
tersof motion arc determined.For the casesof motion, whcn, intersectingthe separatrix,thc phasepoint may
fall into various oscillation rcgions,the formulas for determiningthe possibility of captureinto any region
are found.

I. FORMULATIONOF THE PROBLEM thesystemwithslowlyvaryingpararncters

of typ [2f
spacecraft around d+F(a) = Q'
The motionof an axisymmetric
its centerof masson the uppersectionof the atmo-
In this case, F(a) = (G - Rcosa)(R- Gcosa)/ sinta (l)
sphericreentrytrajectoryis considered.
the variation of the velocity of the centerof mass, the + a s i n c r + D s i n 2 =
c r0 .
trajectoryinclinationangle, and the aerodynamic
dampingmaybe neglected. Thecasesareinvestigated a=a(z),b=b(z),
in whichthe character of motionchanges duringthe wherea is theangleof attack;R = consl,G = consterc
reentryprocess:thc rotationalmotiontransfersinto an projcctions of a kineticmomenlvectoron thelonginr
oscillitoryone,andtheoscillatorymotiontransfers "by dinalaxisof a spacecraft, normalized with rcspect
lo
jumping"-into theorcillatorymotionwith otherampli- the transversalmornent of inertia; a(z), b(zl an
iude characteristics. The caseof planarangularmotion momentcharacteristic coefficients; z is a slowlyvary.
of spacecraft with a sinusoidalangleof attackd.ryt- ing parameter.
denCeof the restoringmomentis considered in Il].
The energyintegralof system(l) for constanra
This paperconsidersboth planarand spatialmotion andD hastheform of
arounda spacecraft's centeiof masswith theangleof
attackdependence of the restoringmomenthavinga d2/2+w(a) - h, Ql'
form of a-biharmonical series.Such an angle of attack
dependence of the restoringmomentis typical.for where
uncontrolled reentryvehiclesof segmentally-conical,
W(a) = [f@)ao = 0.5(G2+R2
blunted conical, and other shapes(Soyuz,Mars, J
Apollo, Wking,and otherreentrymodules).The pres-
enceof the secondharmonicin momentcharacteris- - 2GRcoscr ) / sinz a- rlcosc- bcosz a.
tics causes the possibility of appearance of an addi- The type of the system'smotionis deternrined bl
tionalequilibriumpositionof a spacecraft in theangle the relationbetweenquantitieso, b, R, G, andlr. In tle
of attack,i.e.,an additionalsingularpointon a phase planarcaseof motion(R = G = 0), threetypesof phse
portraitof thesystem,whichcauses theappearance of
portraitstakeplace,
a serie.sof nervcasesof transientmodes.
( t ) lal >}lbl, Thephase
portrnitis anologous
toan
The motion of I spacecraftwith the biharmonic oscillatorysystemof the pendulumtype rnd is
momentcharacteristicsaroundthe centerof mass depicted for a > 0 in Fig. | (fora < 0, thephasc
pictdre
the
under aforementionedassumptions is hy
described is shiftedby value r along thea-axis).
 ANGULARMOTION
TRANSIENTMODESOF SPACECRAFT 261

(2) b > 0.5lcI, D > 0. Someadditionalsingularpoints

of saddletype appearon the phasepxrrtrait. Thesepoints
correspond to the values of the angle of attack
c r x= l a r c c o s ( - 0 . 5 c l D+) Z n n ( r r= 0 , + 1 , t 2 . . . . ) , a n d
t h r e er e g i o n so f m o t i o n t a k c p l a c e :a r o t a ( i o n aal n d
t w o o s c i l l a t o r yo n e s( F i g .2 ) .
( 3 ) l l , l > 0 . 5 l a l .b < 0 . T h e p h a s ep o r t r a i tf o r t h e
casea > 0 is shownin Fig. 3 (for rr < 0, the phasepic-
ture is shiitedby valuen alongthe cx-axis). Heresoltte
singulap r o i n t so f c e n t e rt y p ec o r r e s p o ntdo t h e v a l u c s Fig. l. f'haseportraitof theplanarmotion:lal>2lbl.
of the angle of attackG* = tarccos(-0.-54lD)+ 2rtn
( n = 0 , + 1 , + 2 , . . . ) , a n d f o u r r e g i o n so f m o t i c t nt a k e
place,a rotationaland threeoscillatoryoncs(Fig. 3).
In the spatialcase of motion, the prcsenceof a
g y r o s c o p i ct e r m i n e q u a t i o n( l ) s t i p u l a t etsh e e x c l u -
sivelyoscillatorycharacterof spacecraftlnotiorr.The
prescnceof thc seconclharrnonicin lltc tttotttent char-
a c t c r i s t i ccsa u s e sa p o s s i b i l i t yo f i t p p c a r a n coef s o n t c
singulap r o i n to f s a d d l et y p c o n t h e p h n s ep o r t r a i otfa
s y s t c m I. n t h i sc a s e t, h e r ea r et h r e co s c i l l a t i o nregions
( F i g .a ) .
In connectionwith the changeof a and D coeffi- portraitof theplanarmotion:b > 0.-5lal.
Fig.2. Phase D> 0.
c i e n t sd u r i n g t h e m o t i o n ,t h e e v o l u t i o no f p h a s et r a -
.iectories takesplace.As a result,thesetrajectories can
intersectseparatrices and fall into variousphasepor-
trait regions,which is followedby qualitativechanges
in the nrotioncharacter.Figure -5 shows one of the
pos.sible versionsof an angleof attackvariationin the
caseof a spacecraft's spatialntotionarouttcl lhe cett{er
of lnassduringdescent.
Coefficientsa and D, whose variabilityis associ-
atedwith the atnrospheric densityvariationduringthe
Fig.3.Phase
portrait
of theplanar
motion;
lDl> 0..51a1,
D< 0.
descent,nray be representedin the fornr [2]
a=ctrz,b=chz, (3)

c a = - t f l a S l p r r r V f ; t l Z t 1c, h = - n t 1 , S l p r r r V l t 1 Z t 1 ,

z = e xp (B /),F = l .V u l si nOnl,
whereD1,,, are constantcoefficients,S is the charac-
t111,
teristicarea,/ is the characteristic dimension,/ is the
transversal momentof inertiaof a spacecraft, V1,is the
flight velocity,0n is the trajectoryinclinationangle,
Prrr is the atmosphericdensity at the "atmosphere portraitof thespatialmotion.
Fig.4. Phase
boundary"at time t = t t, altdl" is the logarithmicderr-
sity gradientin height.
To describethe motion of a sys(emwith slowly For system(l), the equality/ = constis valid for
varying parameters(l), we shall use the integralof themajorityof boundary conditions to an accuracy
of
actionwritten in the form of O(elne)for tinresof theorderof lle[3], wheree is a
cr^,
smallparameter characterizing
the rateof the varia-
tion of parameterz. An exceptionalsetof initialcc'n-
!= faao, @) ditions,for whichthisevaluation
is invalid,hasa mea-
;," sure O(en),wheren ) / is any prespecified number.
The motionmodescorresponding to thegiveninitial
are amplitudevaluesof the angle of
where c[r;n,c[,nn, conditionsarecalledthemodesof spacecraft hovering
attack(in a planarrotation,omin= -7r,G.o, = n; in pla- in the unstableequilibriumvicinity.Thesemodes
nar oscillations,oqrin= -orrr)i a is determinedfrom werethoroughlyinvestigated in [2J andare not con-
the energy integral(2). sideredhere.

COSMICRESEARCH Vol.35 No.3 1997

 262 ASLANOV,TIMBAY

andthen,over6, whereP, + P2=| ). Theratioof prob-

o, deg/s bv formulas
abilitiesis calculated
P'-o' (5)
20 Pz oz
o
-20 0i= -IW,' s,
"' (i = 1,2), (6)
Yd z t
-40 li

E = H(p, e, z) - H(0, qa,,z),

0 150cr,deg where H -- pz/2 + W(q,z) is the Hamiltonian:p = a,
q = u arecanonical variables;p = 0, Q* = c[* are coor-
20 dinatesof a singular saddle-typepoint on the phase
portrait (E = 0 at a singularsaddle-typepoint and on
40 separatrices, E > O in A3,E< 0 in Ar.); fr- a = 92.
Integrals(6) are calculatedalong the separatrices/l
60 and /2,parametrizedby time r of undisturbed motion
along theseseparatrices.
One should note that, sincewe considerthe upper
Fig. 5. Characterof spatial motion variation during the section of the reentry trajectory for which f > 0, the
reentry:(a) phasetrajectories;(b) variationof the angleof quantities0; will also be positive;therefore,a single
attack.
passagethrough the phasepoint separatrixfrom the
outer region into the inner one takesplace [4].
Therefore, with the known initial conditions of
In this work, the analysisof transientmodesof
motion at the atmosphereboundary,one may tracethe
motion is based on analyticalexpressionsfor the phasetra.iectory evolution,find the times of transition
actionintegral(4). The time momentscorresponding into eachcharacteristicregionof a phaseportrait,and
to the transitions between various phase portrait
determinethe boundarvconditionsof motion for this
regionsaredeterminedfrom the equalityof the action
region.
integral expressioncalculatedalong the separatrices
to the action integralvaluecalculatedfrom the initial
conditionsof motion. 2. THE PLANAR MOTION
The value of the angle of attack at the boundaryof The analysisof transientmodeswill be carriedout
transitionfrom onetypeof motionto anotherdepends, in for three aforementionedcasesof planar motion, the
thegeneralcase,uponthedistributionof initialanglesof phaseportraitsof which are shown in Figs. l-3, and
attackand angularvelocitiesat the atmosphere bound- also for an additionalspecialcase,when a = 0, b * 0.
ary, as well as upon the rate of change of a and b coeffi-
( l ) l n l > 2 l b l . T h e p h a s ep o r t r a i to f a s y s t e mi s
cients [2]. It is assumedthat, for the time of motion depictedin Fig. | (for definiteness, we shallconsiderthe
before reaching the transition boundary, the vehicle caseof a > 0, sincethis conditioncanalwaysbe achieved
makesseveralturns or oscillations,so that the angleof in equation(l) by a properchoice of the referencesys-
attack may be supposedto be a random variableuni- tem). The rotationalmotion of a spacecraftaround the
formly distributedwithin the rangeunderconsideration' centerof massis govemedby the conditionh > a - b.Let
In this case,the angularvelocityvalue o is detennined us find the analyticalexpressionfor the actionintegralin
from energyintegral(2). the rotational motion. We introduce a new variable
In caseswhen, at intersectingseparatrices, the phase r/ = coso; then the integral(4) for R = G = 0 takes the
point may fall into variousoscillationregions,the prob- form
lem of choosinga motioncontinuation regionarises.Let
'
-l

separatrices \ and l2separate the inner regions of motion rn 7

Ap A2 from the outer one, 43 (see Figs. 2, 3, 4), For I =- z f f l a ^
J | -u
(7)
choosingthe motion continuationregionAl or A2,the I
probabilityPi, i = | ,2, of captureinto eachis used.In
accordancewith [4], this probabilityis definedas the
where
fraction of a phasevolume of a small neighborhood
aroundthe initial point of motion,which is "captured"
f(u) = z1t- u211h + au+ bu2). (8)
into the regionunder considerationin the limit when Theresultof integration of expression (7) depends
a small parametert * 0 and the dimensionof neigh- on the sign of a highest-order coefficient of polyno-
borhood6 * (
0. e 6 (the limit is first takenover € mial J(.u) and on the types of its roots. Two of thefour

COSMICRESEARCH Vol. 35 No. 3 1997

 TRANSIENTMODESOF SPACECRAT|ANGULARMOTION 263
roots of polynomial(8) are unambiguouslyreal and
correspond t o t h e v a l u e so f + 1 . T h e t w o r e m a i n i n g I,r,= 4J-zbu,I
roots may be either real or complex-conjugated, ( 14)
* r r *In11I * * f )/
dependingon the relationbetweenquantitiesh. a. b. ,[- J,.) J, for b < 0,
The followingexpressions for the actionintegraltake
place: 1,21=8Ji1z1,for&=0, (ls)
For D > 0, h > a2l(41,(two real and two complex- wherey* = la/(2b)l= lm"/(2m)1.
conJugatedroots),
Using formulas(13)-(15)and taking into account
/ = 1 '{lh K ( k ) - l " l ( l + t / n 7 1 t 2 1 K ( k ) - f t ( r r , & ) l the constancyof an actionintegral,Ip1=
( 9 1 deterntinethe valueof coefficients {1y,on€ c?n
b anda it time t" in
+ b L K ( k )+ ( E ( k ) - ( I + l ) f l ( r r , k ) ) / & 2 + r r ) l ) , ternrsof initial conditionsof rotationalmotion:
where K(k), E(k),170t,k) are full ellipricintegralsof
b e t = { l t , t / Ip ; -
the first,second,and third kind; ,t = [0,5- (h - b)/@r)]tt2
(l6)
is the modulusof elliptic integrals.rt = (.r--p)2/(41tr), + f/*ar ctan ( f /e- D) n2/32 f o r D > 0 .
11= 8/(pr)tt,;p,, = l2(h t a + l))1t2.
For D > 0, h = a2lgD (all roots are real, two roots br\ = -{10/[ f t * + l
beingequalto eachother,the modulusof elliptic inte-
grals ,t = 0), ('t)
+ r r * t n1 1*t ^ l i * O / [ i ) D 2 / 3 2 f o rb < 0 ,
I = 2na/JTb. (t0)
a(z,t= 11/64 for & = 0. (18)
Forb > 0, [o2/(4b)]> h > [a - b] andl) < O,h > a - b
(all rootsarereal), Heretheactionintegral/.,1,is calculatedfrom the ini-
tial conditionsof motion by using one of formulas
t - (9)-(12).In thecasewhen,at the atmosphere boundary,
, - n Jt t K l k ) . , [ ( '* ? ) r c u t -( t * ? ) n r , *, .t ] d11; &ttdb,1, coefficientsare essentiallysmall as com-
paredto the angularvelocityc[1ry, the actionintegral1,,,
can be determinedby the well-knownformula [2]
* t , l b - ( t : : ' ) ' K g )+ 2 ( ' r *" ) E ( o ) ( rt )
L n' n(k'+n) I6 = 2na6. (le)
The tirnecorresporrding to the momentof transitionof
- ? ( 2+ r t ) ) , r t , , ,
*2(t +-n)2(4- *t oll], rotation into oscillationsis determinedfrom expres-
tt \k"+n t+tt / Jl s i o n s( 3 ) b y u s i n gf o r m u l a s( 1 6 ) - ( 1 8 ) ,
tz = (lnfbr2r/c6]/p), (20)
where k = [ 2 ( p - r ) l ( ( p- l x l + r ) ) f t t 2 , n = 2 / @ - l ) ,
q=8/[2b(p- lxl + ,)]tt2:p, t'- -al(Zb)+ sgn(D) x
[(u/(2b))z- hlbltrz.
tz = ln[ar2r/c"]/$. (2t)
For& = 0, we havea particular caseof nrotionwith
a sinusoidal momentcharacteristic, and the action One shouldnotethat,accordingto equalities(3), coef-
integralis determined by theformula ficients a and b in the case& * 0 are relatedby the
equalitya = b(molntt).
t = q$ft+n)g(t), (12) Let us determinethe boundaryconditionsfor the
a-ngle-ofattackand the angularvblocity.We suppose
whereft = [2tt/(h+ a)]tt2. that, for the time of rotationalmotion ti- tr the-vehi-
The transitionboundaryof rotation into oscilla- cle performs severalturns. Then the ansle of attack
tionsis describedby the h = a - D condition(all roots 0, = c\zycorresponding to the time , = t2miy be consid-
of polynomial(8) arereal,two rootsareequalto each ered to trrea random vaniable,uniformlv distributedin
other,the modulusof elliptic integralsk = l). At the the rangefrom -n to r (to an accuracyof period 2n).For
transitionboundary,at time | = t2, the following the angular velocity cr,r,, taking into accountthe
expressicnsfor an action integral, which is taken energyintegral(2) and equality
hp1= ap1- b121, we
alongthe separatrices,are valid: havethe formula
1,2,= 4J2tll t f-t fu* - tDl.
+ u*arcran & e ) = s g n ( c r 1 1 1a) [p2l ( l + c o s c r 1 2 1 )
[; (22)
(13) -2brr1sin2ap)'n
for D>0.

COSMICRESEARCH Vol. 35 No. 3 1997

 ASLANOV,NMBAY

(2) b > 0.5lal,D > 0. The phaseportraitis shownin
Fig.2. Coefficienta may take both positiveand nega-
tive vafues.The h > a2l(4b)condition correspondsto
the rotationalmotion of a spacecraftaroundthe center
of mass.The actionintegralin the rotationalmotionis
determinedby expression (9), since,in this case,two
roots of polynomial (8) are real and two others are
complex-conjugated.
The h = a2/(4b) condition correspondsto the
boundaryof transitionof rotationinto oscillations. At
the transitionboundaryat time t = tz,the action inte-
gral, takenalong the separatrices, hasthe form
I , r , = 4 J 2 b p 1 [ s i n c r+ * ( 0 ' 5 r - c r * ) c o s c r * 1 , Q 3 ) ary of transition of rotation into oscillations with
where (X*= arccos(-0.5alb).
Taking into accountthat /,2, = /11y,w€ deternrine
from equality (23) the valueof coeffrcientb at time t,
throughinitial conditionsof the rotationalmotion
b ( z )= [ 1 , , , , 2 ( s i n c + ( 0 , 5 n- o * ) c o s o *
r*
The time corresponding to the momentof transitionof by formula (20).
rotation into oscillations is determinedby formula
(20).
Sinceat t > t2thevehiclecan oscillatewith respect
to one of two stablepositionsof equilibriumin the
angle of attack cx,= 0 or c[ = n, let us deterrninethe
probabilityof falling into theseoscillationregions.
We denoteby P1 the probabilityof falling into the
vicinity of the angle of attackvalue u = 0; by Pt, the
probabilityof falling into the vicinity of G = r, where
P, + P2= L After appropriatecalculationsby formulas
(5) and (6), we have
P t = I - c[*cotc[*
where cr* = arccos(-0.5alb).
(3) lbl > 0.5lcl, D < 0. The phaseportraitof a sys-
tem is depictedin Fig. I (for definiteness,
we consider
the caseof a > 0, since this condition can always be
achievedin equation( I ) by a properchoiceof the ref-
erencesystem).The rotational motion of the space-
craft around the center of mass correspondsto the
condition h > a - b. The action integral in the rota-
tional motionis determinedby expression (l l), since
in this caseall rootsof polynomial(8) are real.
The h = a - b conditioncorrespondsto the bound-
respectto the unstablepositionof equilibrium o = 0.
At the transitionboundaryat time t = t2, the action
integral, taken along the separatrices, is determined
by expression (14), where,in this cas€,as = cosc[* =
-0.5a/h. The valueof coefficientb at time 12is deter-
mined in terms of the initial conditionsof rotational
t Z Z . ( z + ) motion by equality(17). The time corresponding to
)]2
the transitionof rotationinto oscillationsis calculated
At a - b > h > -a - b,the vehicleoscillateswith
respect to the unstableequilibriumpositiono = 0. Let
us find the analyticexpressionfor the action integral
in the oscillatory motion. In this case, all roots of
polynomial (8) are real, and one of them corresponds
to amplitude values of the angle of attack: u. =
coscf,mox = cosclmin = coScf,.,
and it is the upper limit of
integral (7). As a result of integration, we have
I
r = r 1]hK&) - atK( k)- 2( l + n) r l( n,k) l
I

(2s)
| + (r - c[*)cotc[*
P2
-'lS' * ? u<ot
- ulo+2n)K(k) (27)
L (k +n)
As seen,the value of the probability of the vehicle
falling into any oscillationregionis determinedonly
by the valueof an unstablepositionof equilibrium in _2(1+ n)&1+ 2k2n + nz)nrn.,l
- - ' ' - ' ' -i.' J J
the angleof attackc[ = c[*. k z+ n
Let us determinethe boundaryconditionsfor the
angleof attackand the angularvelocity.The angleof where/c= [0.5(I + u1)(- u^)/(u1-u,,)ltn;n = 0.5(a,,- | ),
attacko = c[rzlcorrespondingto the time t = lz will be \ = 4/tb(u^-u)ltn: u1,u^= -sl(2b) t[(al\b)' - hlblt'.
assumedto be a random variableuniformly distrib-
uted in the rangefrom -ox to clx or in the rangefrom Oneshouldnotethatexpression (27)is a functionof
a* to 2n - cr*. The probability of falling into these parameters a, b andcoscl,n (fr= -ncoso, - bcos2or)
ranges is determinedby formula (25). Taking into
accountthe energy integral (2) and the equality ft = andrepresents an implicitspecification of the ampli-
azl(4b), we have for the angular velocity o(2) the tudeof oscillations o, in termsof a, b andtheinitial
expression valueof theactionintegral.
Theh = -a - b conditioncorresponds to thebound-
a ( z ) = S g n ( ( l ( r [)2) a p l c o s a p l ,
ary of transitionfrom the regionof oscillationswith
respectto an unstable equilibriumpositioncr= 0 into
+ zbr2rcosz
up1+ olrrrl1zb1r1))t''
, o, (26) oneof two regionsof oscillations with respectto sta-
=
ble equilibriumpositionso,4 tarccos(-0.5alb). At
d(z)= sgn(a(iJr-bet - coscr*|,
lcostrrzr the transitionboundaryat time t = tt, theexpression

COSMICRESEARCH Vol. 35 No. 3 1997

 TRANSIENT MODES OF SPACECRAFTANGULAR MOTION

for an action integraltakesthe fornr The energyintegralof equation(33) for constantb

has the form
r 6 ,= 4 J : f i , t ^ f - . o . t %
(28) a2/z-hcosza = h. (34)
- c o s c , r k l n ( ( l + I - c o s o * ) , / coscr*) l,
The /r > 0 condition correspondsto the rotational
motion of a spacecraftwith respectto the centerof
Taking into accountthat /,j, = /, 1,,we determine mass.We write the expressionfor an actionintegralin
fronr equality(28) the valueof coefficicntD at tinre11 the explicit fornr.Substitutingrelation(34) into for-
sf motion
i n t e r m so f t h e i n i t i a lc o n d i t i o n o mula (4) and integrating
the result,we obtain
t = 4JXt, + h)E(k). (35)
(2e)
- coscr*In(( | + - cosCI- where k = [b /(h + lt))t/2.
/ )/ ^!ioso.*)l12/32.
The /r = 0 (/c = I ) condition correspondsto the
to the giventransitionwill be
The time corresponding boundaryof transitionof rotationinto oscillations.
At
deternrined (3) by using(29),
from expressions the transitionboundaryat time t = tz,the expression
for an action integraltakesthe form
/: = Inlb,/c)/F. (30)
Ipy = 4f1t121. (36)
The amplitudeof oscillationsat tirne/i is found front
the energyintegral(2), taking into accountthat /r,j,= Taking into accountthat /,2, = {1;, we determine
-drlr - blry= l'l(ctn,,,,)
, from equality(36) the valueof coefficientb at time t2
in termsof the initial conditionsof rotationalmotion.
G , , , ,=, a r c c o s [ 2 c o s c r * - l ] . (31)
b(z)= tl,rl3Z, (37)
Now we determinethe boundaryconditionsfor the
(34), (35), we have
angleof attackand the angularvelocity.The angleof or, usiltg fonnulas
attacko = o,3,corresponding to time / = /r is consid-
h ( z )= t d ? D / z + b 1 t 1 (-t c o s 2 o l r ; ) l l E ( t ( t ) ) 1 2
( 3. 8 )
ered to be a randomvariableuniformlydistributedin
the range from -c[,,,,,to 0, or in the range from 0 to The time correspondingto the momentof transitionof
rotation into oscillationsis calculatedby formula
cx,,,,,,,.The falling into mentionedrangesis equally (2C|'.
probable,sincethe oscillationregionsare equal and Now we determinethe boundarvconditionsfor the
symmetricalwith respectto a singularsaddlepoint angleof attackand the angularveiocity.The angleof
cx,= 0, and we havein formula[5] 0t = 02.Takinginto attackG = c[(z)corresponding to time t = tzis consid-
accountthe energyintegral(2) and the equality/r,1,= ered to be a randomvariableuniformly distributedin
-cr.r)- l21iy, w€ have for the angularvelocity {r1.rythe the range frcm -tt/2 to n/2 or in the rangefrom nl2 to
expression 3n/2. The falling into mentionedranges is equally
probablein accordancewith formula (25), since, in
d ( r ) = * [ 2 a , 1 , ( c o s c [ 1 r y| )- - 2 b r . r s i n 2 c [ 1 , , J '("J, 2 ) this case,a* = n/2. Taking into account(2) and the
equality/l = 0, we havefor angularvelocity
or --
ee) sgn(q1) ffi1cos cr1zy.
d ( , r )= t J - z t t
) t z c o s c , * ( c o s G ' ( 3I))-* r i n ' o , r , l ' " .
(4) a = 0, b *O.In thiscase,for b > 0, the phasepor- 3. THE SPATIALMOTION
trait of a systemhasa form shownin Fig. 2, but in this The phaseportraitforequation (l) in the caseof a
case, the oscillationregions with respectto stable spatialmotion is determinedby the relationbetween
positionsof equilibriumin the angleof attacko = 0 quantitiesh, a, b, R, and G. The qualitativeanalysisof
and ct = n are equal and symmetricalwith respectto equation(l) showsthat, if, inside the intervalfor the
an unstableequilibriumpositiona = n/2. For D < 0, angleof attack(0, n), the saddlepoint is absentin the
the phasepicture is shifted by the nlL valuealong theplanarcaseof R = G = 0, then it is also absentin the
g-axis.
caseof spatialmotion irrespectiveof quantitiesR and
In the case under consideration,the spacecraft G. On the other hand,if, for R = G = 0, the saddlepoint
motion is describedby the equation actuafly takesplace(thecaseof b > 0.5lal,b > 0), then
o + b s i n 2 a= 0 . ( 33) its absencecan be provided only by choosingsuffi-
ciently high (in magnitude)and finite R and G values.
For definiteness, we shall considerthe case b > 0, We analyzethe casewhen the saddlepoint exists;then
sincethis conditioncan alwaysbe achievedin equa- the phaseportraitof equation( l) hasthe form shown
tion (33) by a properchoiceof the referencesystem. i n F i g . 4 .

COSMICRESEARCH Vol.3.5 No.3 1997

 266 ASLANOV.TIMBAY

Let us find the analyticalexpressionfor an action case,polynomial (40) has the form
integral in the casewhen the spacecraftis oscillating
in the outerregionA. (Fig. 4). We introducethe vari- . f ( u ) = - \ b ( u - u ) ( u - u ) ( u - u * ) 2,
able a = cosGithen the integral(4) takesthe form
and integral(39) is calculatedin terms of elementary
llt
functionsas
I - -l!Je,a,,
. I t/
(3e) Ip,= JZ-E,
r 1-u
ltl

(42)
where u r - u * ) ( u * - u 2 ) - j",".rtno,),
"{,
f(u) = -2bua-2au3+2(b - h)uz
(40) = tt1* u2+Zu*,cz.r
wherecl =(l + u$,J(u6 l11ura.11,
+ 2(a + GR)u + (2h - G2- R'),
6 r = ( n r* u z - 2 u * ) / l u z - r r l , 6 zt =. I ( u z + l ) ( n *- u ) +
l/f = coSclmin, u2 = cosclmax.
( u 1 + l ) ( u * - u 2 ) l / l ( u 2a- r X u *+ l ) 1 .
One shouldnotethat,in thecaseof motioninsidethe
Taking into account the constancyof an action
outeroscillationregion,the polynomial(40) alsohas-
integral Ip1 = 111,we rewrite expression(42) in the
along with the rootscorresponding to amplitudevalues
form
of the angle of attack !t1 = cosd,,n;n,
12 = coso.r*-two
complex-conjugated roots:u3,4= uznt iw, and uz 1 uu 1
u1. Substitutingpolynomial(40) into the formula for =
b(z)
actionintegral(39)andintegrating theresult,oneobtains {,,,,r1, (43)
t ' r'l'
I = n { A r t f i + a l L K ( k )+ v ( 1+ n ) r l ( nk, ) l - L c , a r c s i n 6 ,l lZl .
/)
,=i J)
+ t l { L ' - v ' (| + n ) ) K ( k*) ( v ' ( t -+ n ) n ' ) r r o l
T . Coefficient0,2,is determinedby a simultaneoussolu-
L \ k'+n ) tion of equation(43) with the determinationof roots
a . (4t) of polynomial(40). Quantityfi is dererminedfrom the
(t
+ ( I + n 1 ( v ' +-:t-)(n
+ 2 k') condition of transitionof complex-conjugated roots
+ zl ,v')n 1 ,r,
tyl t13,4=Ih4* iw into realonesH3.4=tty= u*,w = 0. The
\ k'+n ) J
time correspondingto the momentof transitionunder
2 r considerationis calculatedby formula (20),
- (k)+v,(l + n,)tl(n;,
f o.sa,1i,,K Ql l. Sincethe vehicleat t > tz may continueits motion
i= | in one of two inner oscillationregions A1 or A2
whereft = [0,5(l- e/r[]ttz,,,= (E - D2/@e), (Fig. 4), we determinethe probability of capturing
\ = into theseoscillationragions.Using formulas(5) and
4l"frb$, ?"= (urE- uz)l(E- I ), v = 2E(uz
- u)/(Ez- D, (6), one obtains
e = @t - \q)(uz - u11-) + w2, O = [(ur - uro)2+
P,
- u.,)z+ w2)t/2,6
w2)t/2[@2 = [(r, - uy)z + wz)-t/2f1u,
- f1fr-r.lfr.-A+(0.5c' +mo/m6)
;=
uy)2 + wzltn,dt.z= 0.5(G+ R)2,nt.z= (E - | t u2 *
l u ) 2 / p \ ( lr u r r u 2 +u p 2 ), f\ , 2 = ( 1 - D t G - | * u 2 r x ( 0 . 5 r+ a r c s i n 6 l ) ) / ( ^ l ( uut -* ) ( u * - u 2 ) (44)
t E + u r + E u )- ? r , . r .
E u , ) , v , . r( .l =+ E ) t ( +
- (0.5c1+ m"/m)(0.5n - arcsin6,)),
Expression (41)is a functionof parameters a, b
and cosctro,= ,lz, Sinceh = W(a^u), and representsan w i t hP ' + P 2 =l .
implicitspecification of a maximumvalueof theangle Now we determine the boundarvconditionsfor the
of attackcr*r* in terms of a, b and the initial value of angleof attackand the angularvelocity.The angleof
the actionintegral.In this case,the minimumvalueof attackG = to timet - tzissupposed
the angleof attackis cx,n';n= ?rccosur. e2; corr€sponding to
be a randomvariableuniformlydistrib'uted in the range
The time of transition from an outer oscillation from or;n,r,to o,*or in therangefromo* to on*r,r,.The
region into one of inner oscillationregions,which are
probabilityof fallingintothementioned rangesis deter-
separatedby a separatrix,is defined by the time of
minedby formula(M). The angularvelocityctlzyis
transitionof complex-conjugated roots aj.4 = \t* iw
intO real OttgSltj,4 = u34= y* = COS 61{.,w = 0: in this determinedfrom the energyintegral(2) taking into
case,the modulusof elliptic integrals,t = l. Now we account thatquantitylr is determinedfromthecondition
obtain the formula for an action intesralat time t = t. of transition
of complex-conjugated roots a3.4= uytiw
correspondingto the mentioned trinsition. In thiJ into real ofles uj,4 = n34= It4,w =0,

COSMICRESEARCH Vol. 35 No. 3 tggT

 ll\nlrf)lLlt t trr\tttl-rt \/l !tr nVl,Vt\nt r nr!VVtrnt\ Irl\/tt\rtt 267
Thus,wc haveinvestigated the transientmo<Jes of REFERENCES
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COSMIC RESEARCH Vot. 3.j No. 3 tgg: