Formulation Methods of Rigid Multibody Systems for Large Space Structures and Some Results of Computer Simulation

摘要

A comparative study of the simulation algorithms for dynamics of large space structures modeled as a collection of rigid multibodies connected by hinges is described. Two algorithms have been independently developed at two research institutes. One method is based upon the well-known Euler Newton formulation and the unified matrix approach. The unified matrix approach solves the dynamical equation for the derivatives of the non-holonomic velocities and the internal torques and forces simultaneously, hence permitting us to deal with an arbitrary large space structure (LSS) configuration. The other method provides for an efficient and fast algorithm based on Kane's method with modification in the inertia dyadic and other quantities. Both methods have been applied to two typical examples: the first is a satellite with four-link manipulator as a model of a chain structure, and the second is a satellite with a closed loop deployment mechanism. The results coincide satisfactorily and the validity of the two methods has been proven perfectly. The numerical values given in this report will be useful as a reference in other simulations.