基于空间算子代数的航天器多体动力学递推实时仿真算法

进一步发展了空间算子代数符号体系,给出了一组坐标系无关空间矢量,张量和矢阵符号表示和相应的坐标投影规则.基于空间算子代数符号体系,推导了适用于航天器实时仿真的无根、树状拓扑、开环多体动力学递推算法,并根据投影规则给出了递推算法在惯性坐标系的投影方程.新的空间算子代数符号体系有符号定义严格,推导过程力学概念清晰,推导结果易于实时仿真程序实现的优点.推导的递推算法非常适合于正逆混合问题和变拓扑问题的求解,可以满足多体航天器动力学实时仿真的要求.

Recursive Multi-body Dynamical Algorithm for Real-time Simulation of Spacecraft Using Spatial Operator Algebra

A new set of coordinate-free spatial vector tensor notation and frame projection rules in deriving motion equation of multi-body system using spatial operator algebra is introduced. A floppy base tree topology open chain recursive multi-body dynamical algorithm for real-time simulation of spacecraft using spatial operator algebra is derived. Inertial frame projection equations are derived based on projections rules. The advantages of the new notation system are strict, clear and easy for real-time code realization. The algorithm is readily to resolve the forward-inverse mixed problem and topology changed problem, achieving the requirement of real-time simulation of dynamics for multi-body spacecraft.