›› 2017, Vol. 37 ›› Issue (1): 49-56.doi: 10.16708/j.cnki.1000-758X.2017.0005

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Automaticallygeneratingexplicitequationsofmotionformulti-bodysystems

 LI  Jin-Yue, HU  Quan*, ZHANG  Jing-Rui   

  1. SchoolofAerospaceEngineering,BeijingInstituteofTechnology,Beijing100081,China
  • Received:2016-07-12 Revised:2016-10-10 Online:2017-02-25 Published:2016-11-24

Abstract: Thedevelopmentofthecomplexmultibodyspacecraftraiseshigherrequirementtomulti-bodydynamicsmodelingandcontroltechnology.Theexplicitdynamicsequationsofthesystemarealwaysneededtoanalyzesystem′scharacteristicsanddesigncontrollers,butthecomplexityofsystembringsdifficultytoderivingtheequations.Inordertosolvethisproblem,theexplicitformofdynamicsequations′analyticalexpressionwasinferredbyusingKane′smethod,thechainstructuresystem′sexplicitdynamicsequations; then,byanalyzingthisequation,physicalmeaningandregularitiesofdistributionofeachequationitemwere  established;usingthoseregularities,aprogramthatcanoutputtheexplicitdynamicsequationsofspacecraftsystemwithtreestructurewasdeveloped.Thisprogramreducestheworkloadofmodelingthistypeofspacecraftsignificantly.

Key words: multi-bodysystem, roboticarm, explicitformationofdynamics, autowriting, Kaneequation