葛东明, 史纪鑫, 邓润然, 等. 一种柔性多体动力学建模方法及其工程应用[J]. 航天器环境工程, 2019, 36(4): 1-7 DOI: 10.12126/see.2019.04.004
引用本文: 葛东明, 史纪鑫, 邓润然, 等. 一种柔性多体动力学建模方法及其工程应用[J]. 航天器环境工程, 2019, 36(4): 1-7 DOI: 10.12126/see.2019.04.004
GE D M, SHI J X, DENG R R, et al. Flexible multi-body dynamics modeling and its engineering application[J]. Spacecraft Environment Engineering, 2019, 36(4): 1-7 DOI: 10.12126/see.2019.04.004
Citation: GE D M, SHI J X, DENG R R, et al. Flexible multi-body dynamics modeling and its engineering application[J]. Spacecraft Environment Engineering, 2019, 36(4): 1-7 DOI: 10.12126/see.2019.04.004

一种柔性多体动力学建模方法及其工程应用

Flexible multi-body dynamics modeling and its engineering application

  • 摘要: 针对具有多轴天线驱动、机械臂运动、空间站舱段转位等多体运动特征的航天器,提出了一种基于浮动基座和树形拓扑结构的柔性多体动力学建模方法,用于计算机建模和与控制系统联合仿真。基于拉格朗日方程和有限元方法所建立的动力学方程考虑了大角度刚体相对转动、弹性部件振动、柔性关节变形特性。将此建模方法程序化并应用于工程实际,可解决此类航天器复杂的机构运动与弹性振动的耦合动力学建模问题,实现完全自主的动力学建模、模型代码输出和控制联合仿真功能,为此类航天器的动力学特性分析及其控制系统设计与系统级仿真验证服务。结合带多轴驱动天线和大型柔性天线的整星对象,采用该方法建模并就系统频率、频率响应、时间响应与商业柔性多体软件Adams进行对比,结果显示二者一致性良好,验证了该建模方法及其软件实现的正确性和通用性。

     

    Abstract: For a spacecraft with multi-body motion characteristics, such as the multi-axis driven antennas, the manipulator arm’s movement, the transposition of the space station cabin, a flexible multi-body dynamics modeling based on the floating base and the tree topology is used for the computation and simulation combined with the control system. Based on the Lagrange equation and the finite element method, the dynamics equations are derived for the motion of the large-angle rigid body the elastic component vibration, and the flexible joint deformation characteristics. Programs are developed and put to engineering practice for the rigid and flexible coupling dynamics modeling of such kind of spacecraft, so as to ensure the fully autonomous dynamic modeling, the model code output, and the capabilities of the simulation combined with control. The software can be used for the dynamic analysis, the control system design, and the system-level simulation verification. In the actual engineering application, a comparison with the commercial flexible multi-body software Adams is made, to verify the correctness and the versatility of the modeling method and its software implementation.

     

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