带Stewart平台的航天器刚柔耦合动力学建模与仿真分析

本文采用柔性多体系统单向递推组集的建模方法，基于速度变分原理建立了带Stewart平台、柔性帆板和CMG组件的航天器刚柔耦合动力学模型.由于该模型自由度较大，无法满足实时控制的需求，因此建立了简化的Stewart平台等效模型，并通过与柔性Stewart平台完整模型对比，验证了所建立的动力学简化模型的正确性与高效性.分析了星体平台运动及柔性帆板的振动对有效载荷动力学响应的影响，指出了设计Stewart平台的微振动抑制方案时不能忽略下平台的运动及柔性附件的振动.本研究为带Stewart平台的航天器的微振动减振设计与高精度指向提供了有效的技术支撑.

Rigid flexible dynamic modeling and simulation of Stewart platform spacecraft

The modeling method of forward recursive formulation of flexible multibody systems is used in this paper. Based on the principle of velocity variation, a rigid flexible coupling dynamics model of a spacecraft with Stewart platform, flexible solar panels and CMG components was established. Due to the large degree of freedom of the model, unable to meet the needs of real time control. Therefore, an equivalent simplified model of the Stewart platform with simplified legs was established. Through comparison with the complete model of the flexible Stewart platform spacecraft, the correctness and efficiency of the established dynamic model were verified. The influence of the motion of the main platform and the vibration of the flexible panels board on the dynamic response of the payload is analyzed. It is pointed out that the motion of the main platform cannot be simply fixed or the vibration of the flexible panels cannot be ignored when designing the micro vibration suppression scheme of the Stewart platform. The research in this paper provides effective technical support for micro vibration damping and high precision pointing of spacecraft with Stewart platform.