基于动力学递推算法的绳系卫星系统刚柔耦合多体模型

利用动力学递推算法建立了空间绳系卫星系统(TSS)的铰接柔性杆动力学模型.所研究的绳系系统包含两颗刚体绳端卫星和一段连接两颗卫星的柔绳,柔绳离散为一系列球铰连接的弹性杆,考虑杆不均匀的纵向一维形变,并利用球铰的运动模拟柔绳的弯曲和扭转;然后基于递推算法推导得出了该刚柔混合离散模型的动力学方程.数值仿真结果表明:所建立的绳系卫星系统模型能够很好地模拟空间系绳的各向摆振和扭转,此外,递推算法的引入能够有效地减少离散模型动力学方程的维数,从而大幅减少计算量.

Rigid-flexible coupling multibody model for the tethered satellite system based on recursive dynamics algorithm

A multibody dynamics model of hinged flexible rods was established for the spatial tethered satellite system (TSS) based on the recursive dynamics algorithm. The system was consisted of two rigid end-satellites and a flexible tether connecting them. In the model, the tether was discretized into a series of flexible rods connected by spherical hinges and the non-uniform longitude deformations of the rods were considered, whereas the bending and torsion of the tether were simulated by the motion of the spherical hinges. Then, the equation of motion of the rigid-flexible coupling multibody model was derived based on the recursive dynamics algorithm. The simulation results prove the efficiency of the proposed model in simulation spatial motion of the TSS, including tether vibrations and oscillations in different directions. The introduction of the recursive dynamics algorithm effectively decreases the dimension of the discretized model and therefore reduces the computational efforts sharply.