空间站大型伸展机构柔性多体动力学数值计算

对用ｋａｎｅ方法建立的空间站大型伸展机构柔性多体动力学数学模型，从数值计算方法和软件实现方面进行了研究。文章采用局部附着浮动坐标系描述各构件的刚体大范围伸展运动；用截断的子结构正则模态描述各构件的柔性变形；用求解刚性方程的ＴＲＥＡＮＯＲ方法进行数值积分；用混合法对系统的微分－代数动力学方程组进行求解。还对空间站伸展机构多体系统的约束方程建立、独立坐标选取和动力学方程的ｓｔｉｆｆ病态问题进行了讨论。并针对空间站伸展机构在驱动展开过程中以及展开完成后的动力学响应进行了算例计算。

NUMERICAL CALCULATION OF FLEXIBLEMULTI-BODY DYNAMICS FOR LARGE DEPLOYABLEMECHANISMS OF SPACE STATION

n this paper,some research works on numerical method and programto the mathematics model in reference1]are presented.The local floating coordinatesystem is employed to describe the deployment motion of each component and the normal substructure modals is cut off to describe the flexibility of the components.Thenumerical integration method TREANOR and the mixed procedure are selected tosolve the differential-algebric equations obtained by Kane's method for flexible multibody dynamics of large deployable mechanisms of spqce station.Some discussions onthe establishment of the constraint equations,the selection of independent coordinatesand the ill-condition of the dynamics equations are given.Finally the computer software PFMBDAS is compiled and some numerical exapmples are illustrated.