Deployment Dynamics for Solar Wings With Joint Friction
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摘要: 研究了空间漂浮航天器太阳翼的展开动力学与控制问题.采用单项递推组集方法建立了太阳翼展开与锁定过程的动力学模型,利用虚功率原理推导了铰摩擦对系统动力学方程的贡献,通过补充含摩擦铰物体的系统动平衡方程构建了系统封闭的动力学方程.通过与ADAMS软件仿真结果的对比,验证了所建模型的正确性.研究结果显示,所建模型能够有效地对太阳翼的展开过程进行描述,铰摩擦会对系统的动力学行为产生影响,PD控制方法能够较好地抑制太阳翼展开所引起的航天器的姿态漂移.Abstract: The deployment and locking process of solar wings of the freefloating spacecrafts was studied. The dynamic model describing the deployment and locking process was established with the method of forward recursive formulation. The contribution of joint friction to the dynamic equations was derived based on the virtual power principle. The closed dynamic equations for the system was constructed through supplementation of the dynamic balance equations for the bodies with the frictional joints’ effects. The validity of the proposed model was verified through comparison of the simulation results with those of the ADAMS software. Research results show that the proposed model effectively describes the deployment and locking process of solar wings, the joint friction has considerable influence on the dynamic behavior of the mutibody system, and the PD control method substantially restrain the drift of the spacecraft attitude caused by the deployment of solar wings.
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Key words:
- solar wing /
- deployment dynamics /
- forward recursive formulation /
- friction /
- PD control
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