变拓扑多臂航天器高效统一动力学建模

Unified High-efficient Dynamic Modeling of Multi-arm Spacecraft with Variable Topology

针对多臂航天器在轨操控过程中可能存在的多链、闭环、环链混合等多种拓扑构型及相应的动力学模型变化,提出基于空间算子代数理论(SOA)的高效统一动力学建模方法。首先,提出了描述多臂航天器部件连接关系的构型参数,并基于构型参数提出了多臂航天器拓扑构型描述矩阵的自主生成方法。其次,基于空间算子代数理论,将通路矩阵与空间转移算子相结合,提出了变拓扑多臂航天器统一动力学建模方法。最后,将数值仿真结果与多体动力学仿真软件的仿真结果进行比对,验证所提方法的有效性。仿真结果表明,对于不同的拓扑结构,所提出的O(n)阶统一动力学建模方法能准确描述变拓扑情况下的多臂航天器动力学响应。

Aiming at the possible configurations of multi-chain,close-loop and mixed chain-ring topology in the process of on-orbit control of multi-arm spacecraft and the corresponding dynamics model changes,a unified and high efficient dynamic modeling method based on the spatial operator algebra(SOA)is supposed.Firstly,configuration parameters describing the connection relation of the space robot components are proposed.Based on the configuration parameters,an autonomous generation method of topology configuration description matrix for multi-arm spacecraft is proposed.Secondly,based on the SOA theory,the path matrix and the spatial transformation operator are combined to put forward the variable topology multi-arm spacecraft dynamic modeling method.Finally,the numerical simulation results are compared with the simulation results of multi-body dynamic software to verify the effectiveness.The simulation shows that the proposed unified O(n)-order dynamic modeling method can accurately describe the dynamic response of the multi-arm spacecraft for different topology configurations.