空间站柔性展开机构仿真方法研究

空间站展开机构是典型的大型多柔体系统，其展开收拢过程涉及非线性大变形以及接触碰撞问题。首先采用绝对节点坐标法作为柔性体的建模方法，建立了梁单元的有限元单元格式，然后基于拉格朗日方法和Hertz接触理论建立了考虑接触碰撞问题的柔性多体系统动力学方程，采用向后差分方法数值求解柔性多体系统的微分代数方程，最后以自由梁、简支梁和柔性单摆进行数学仿真验证。结果表明，该方法可用作我国空间站大型柔性太阳电池翼的设计分析参考。

Study on Simulation Method of Flexible Lattice Masts of Space Station

Flexible Lattice Mast of Space Station, a typical flexible multi-body system, often undergoes nonlinear lager deformations and involves collision. Firstly, absolute nodal coordinate formulation was proposed as a modeling method to describe flexible bodies and the finite element format of beam element was built. Secondly, the equations of motion of flexible multi-body systems, which concern about contact, were built by the Lagrange method and calculated with Hertz contact theory. Then, backward differentiation formula was applied to solve the differential algebraic equation nu- merically. Finally, three examples were used to demonstrate the use of absolute nodal coordinate for- mulation in the dynamic simulation of flexible multi-body systems. The results showed that the modeling method could be used in the design of a large flexible solar array of space station.