柔性多体航天器单向递推组集建模方法

A FORWARD RECURSIVE AND COMBINATIVE FORMULATION OF DYNAMICS FOR FLEXIBLE MULTIBODY SPACECRAFTS

本文提出一种面向计算机建立柔性多体航天器动力学方程的新方法，其特点是完成运动学正向递推同时实现动力学方程的组集。这种方法不仅可提高航天器、空间机械臂动力学仿真的计算效率，而且可有效地克服数值积分病态的困难。文末一个空间四杆柔性机械臂的算例验证了这种建模方法的上述优点。

A new computer-oriented formulation of dynamics for flexible multibody spacecrafts is proposed in the pqper. It is a special feature of the approcah that the combining dynamics equations are simultaneous with forward recursive process of kinematics. Being used to simulation of spacecrafts or space manipulators, the formulation is able not only to raise effeciency of simulation calculation, but also to overcome a difficulty of the numerical stiff. A simulation example of a flexible four-bar space manipulator is given and is used to verigy above advantages of the formulation in the end of this paper.