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针对挠性航天器本身大范围刚性运动和携带载荷进行动态变形运动的耦合问题,建立一种动力学刚性-柔性耦合模型运动控制方法。该方法通过计算航天器所受的惯性力来推导挠性梁等效弯曲刚度,建立一个物理意义明晰并且耦合度低的动力学模型,能够全面分析对挠性梁的各种耦合干扰影响。仿真结果表明,建立的刚性-柔性耦合动力学模型能够对挠性梁进行全面控制分析,并通过调整相关参数有效控制耦合干扰项对挠性梁振动的影响。
Aiming at the coupling problem of large-scale rigid-space motion and carrying load of flexible spacecraft itself, a motion control method of dynamic rigid-flexible coupled model is established. The method calculates the equivalent bending stiffness of the flexible beam by calculating the inertial force of the spacecraft and establishes a dynamic model with clear physical meaning and low coupling degree so as to fully analyze the influence of various coupling interferences on the flexible beam. The simulation results show that the established rigid-flexible coupled dynamic model can fully control the flexible beam and control the influence of the coupling disturbance on the vibration of the flexible beam by adjusting the relevant parameters.