文档介绍：
面向运动控制的细长柔性空间结构动力学
建模#
赵国威1,吴志刚1,2**
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(1. 工业装备结构分析国家重点实验室,大连理工大学,大连 116024;
2. 航空航天学院,大连理工大学,大连 116024)
摘要:对自由-自由边界无约束大型柔性空间结构在轨搬运过程的动力学建模,现有文献采
用了忽略刚柔耦合作用的动力学模型。由于相对准确的动力学模型是设计良好的运动控制系
统的前提,有必要建立耦合模型,并探讨与非耦合模型之间的区别。首先结合结构的特点选
择以质心为原点的浮动坐标系作为辅助坐标系,利用其产生的附带约束条件可以简化动能表
达式;其次选择 Euler-Bernoulli 梁进行变形描述并利用假设模态法对变形进行离散;基于
Lagrange 方程推导得到结构大范围运动时的刚柔耦合动力学模型;最后通过一些仿真算例对
非耦合模型、零次近似简化模型和一次近似模型进行对比,验证了非耦合模型的不合理性及
零次近似简化模型的准确性和有效性,为后续运动控制系统设计提供依据。
关键词:空间平台;航天器飞行力学;浮动坐标系;刚柔耦合;柔性空间结构;自由-自由
边界
中图分类号:;
Motion Control Oriented Dynamic Modeling of Slender
Flexible Space Structure
Zhao Guowei1, Wu Zhigang1,2
(1. State Key Laboratory of Structure Analysis for Industrial Equipment,Dalian University of
Technology,Dalian 116024;
2. School of Aeronautics and Astronautics,Dalian University of Technology,Dalian 116024)
Abstract: Dynamic modeling of on-orbit maneuvering for free-free slender flexible space structures is
studied. In literature, a dynamic model without rigid-flexible coupling terms is adopted for designing
motion controller. As establishing relatively accurate dynamic models is the precondition of a
well-designed motion controller, it is necessary to establish coupling model and find the difference
between them. To begin with, a floating reference frame is chosen as local reference frame, whose
origin is consistent with the centre of mass; after that, the structure deformation is described based on
the deformation theory of Euler-Bernoulli beam, and the assumed mode method is used for discretizing
the deformation; next, the rigid-flexible coupling dynamic equations of structure undergoing large
overall plane motion are obtained based on Lagrange’s equation; finally, through several simulation
examples, the difference between uncoupling equations and coupling equations is discussed, and the
results show that the uncoupling model is unreasonable and simple zero-order model is accurate and
effective. The an