基于空间算子代数的空间多体系统动力学递推计算

应用空间算子代数方法对空间多体系统进行动力学建模、分析与仿真。空间算子代 数 作为基于李群及旋量方法的算子理论，采用估计理论中卡尔曼滤波及平滑方法，实现了具有 明确物理含义的O(n)计算效率的动力学实时递推求解算法。首先使用空间算子代数理论 对多体系统动力学进行递推形式的描述、建模及分析，并通过与估计理论对比提出了质量矩 阵求逆的高效递推算法，而后基于面向对象技术编制了软件，并通过漂浮基双臂机器人典型 算例的求解，与商业动力学软件Simpack进行对比，验证了软件及算法的正确。结果表明， 空间算子代数方法概念清晰、推导方便，计算效率及精度能够满足工程需求，可用于空间多 体系统动力学实时仿真及控制系统设计。〖JP〗

Recursive Computation of Space Multibody Dynamics Using Spatial Operator Algebra

Spatial Operator Algebra (SOA) was an operator theory based Lie Group and Screw, and it implemented a recur-sion 'algorithm of O(n) with clear physical meanings. The models and the theory of SOA were introduced first, and then the dy-namic analysis of the space multi-body system was modelled and implemented by SOA method which is proved correct by compared with the commercial dynamic software. As a result, SOA has clear physical meanings and effcicnt tormulation conversions for muhi-body dynamical modeling which can support the fundamental for the control system design and real time simulation of the space multi-body dynamics.