【摘要】 研究具有时变不确定约束的航天器对接动力学问题。在第一部分建立的运动学约束方程基础上 ,提出运用 D’Alembert正交补方法消除系统动力学方程中的未知接触约束力 ,解决了约束方程的维数是不确定变化条件的系统动力学方程的数值求解问题。并开发出周边式对接机构航天器的对接动力学分析与仿真通用软件。最后通过算例验证了理论方法和软件的有效性。更多还原

【Abstract】 In this paper, docking dynamics of a spacecraft with androgynous peripheral dock ing mechanism is investigated.First, the dynamic characteristics of constrained multi body system related to the varying number of touch constraint conditions during docking and capture for the docking mechanism are analyzed.Then the restraint forces are eliminated from the system dynamic equations applying the D’Alembert normal complementary principle, on the basis of kinetic constrained equations in Part I of this paper.The difficulty of solving constrained dynamic equations of varying constraint condition is thus overcome.To examine the methods a universal package DADSYS(Dynamics Analysis of Docking System for Spacecraft) is implemented.Finally, the effectiveness of the proposed method is verified through computational results.更多还原