【摘要】 建立了两个航天器对接系统的约束动力学方程。在论文第一部分所建立的运动学约束方程的基础上，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。而且还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，通过算例验正了理论方法及软件的有效性。更多还原

【Abstract】 The constrained dynamics equation for two spacecraft docking system is established. On the basis of kinetic constrained equations of peripheral docking mechanism for mutual effect, the restraint forces are eliminated from the system dynamic equations by the D’Alembert normal complementary principle. The difficulty of solving constrained dynamic equations of varying constraint condition is overcome. To examine the methods a universal package DADSYS(Dynamics Analysis of Docking System for Spacecraft) is implemented. Final, the effectiveness of the methods has been verified by computational problem更多还原