摘要
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.
出处
《宇航学报》
EI
CSCD
北大核心
1994年第4期85-90,共6页
Journal of Astronautics
基金
国家自然科学基金
高校博士学科点科研基金
关键词
柔性多体
航天器
空间柔性机械臂
动力学
Flexible multibody spacecraft Flexibe space manipulator Dynamics Digital simulation