›› 2012, Vol. 32 ›› Issue (4): 22-27.doi: 10.3780/j.issn.1000-758X.2012.04.004

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Recursive Finite Segment Method Analysis of Flexible Spacecraft Undergoing Large Overall Motions

Li Wenlong, Yu Zhengning, Shi Peng, Zhao Yushan   

  1. (School of Astronautics, Behang University, Beijing 100191)
  • Received:2011-06-22 Revised:2011-10-18 Online:2012-08-25 Published:2012-08-25

Abstract: The number of freedom degree of flexible spacecraft undergoing large overall motions would increase largely if the finite segment method was adopted, so the traditional methods would be inefficient. A more efficient way was proposed by combining the finite segment method and the spatial operator algebra theory. Firstly, the flexible components were divided into several rigid bodies, so the original system turned to be a rigid multi-body with flexible joints. Then, the spatial operator algebra (SOA) theory based recursive kinetic equation of motion was established. Finally,a numerical example of two flexible link manipulators was presented. The simulation results are quite consistent when the problem was solved by the SOA method as well as the Newton Euler method. The computation time indicates that it increases linearly with the number of DOF by spatial operator algebra theory, and much fewer than that of the Newton Euler method. Results confirm the validation and efficiency of this method.

Key words: Spatial operator algebra, Finite segment method, Kinetic equation, Flexible spacecraft