三轴气浮台多体动力学建模与仿真  

Dynamics Modeling of Three-Axis Air-Bearing Table with Rotatable Appendages

作　　者：陈欢龙[1] 周军[1] 刘莹莹[1] 牟小刚[2] 

机构地区：[1]西北工业大学精确制导与控制研究所,陕西西安710072 [2]北京控制工程研究所,北京100080

出　　处：《西北工业大学学报》2010年第3期332-337,共6页Journal of Northwestern Polytechnical University

基　　金：空间智能控制技术国家级重点实验室(2008DC020008);民用航天计划(C5120062702)资助

摘　　要：为了研究多体卫星的地面物理仿真试验方法,根据动量矩定理,文章建立了转动附件与三轴气浮台中心刚体直联以及级联情况下的动力学模型。针对带一个附件的三轴气浮台,利用Simulink进行了开环动力学仿真,结果显示,附件的转动对台体的姿态耦合特性明显,如果不对由于附件转动引起的气浮台系统总质心的变化进行补偿,重力静不平衡力矩将严重影响物理仿真过程的进行。转动附件的质心偏离转动轴或转动中心的程度也决定了附件转动对本体的影响。根据该动力学方程,通过对转动部件质量特性的精确建模,可以分析及计算部件转动对气浮台本体运动特性的影响。A dynamics model for a three-axis air-beating table with rotatable appendages is important for ground experiments on the multi-body satellite. Sections 1 through 5 of the full paper explain how we establish the dynamics model. The five sections are entitled respectively： （ 1 ） description of the kinematics of the three-axis air-bearing table, （2） the equation for attitude dynamics, （3） the air-bearing table with a number of rotatable appendages, （4） the joining of rotatable appendages to the central rigid-body with gimbals, （5） multi-level joined rotatable appenda- ges. In section 2, we apply the momentum moment theorem. Focusing on the air-bearing table with one rotatable appendage, we did the open-loop dynamics simulation ; the simulation results, given in Figs. 5 through 8, and their analysis show preliminarily that： （ 1） the rotation of the rotatable appendage is coupled with the air-bearing table＇ s attitude; without the compensation for the mass centre change caused by the appendage rotation, the gravity unbalance torque will make the experimental results very poor; （2） if the mass centre of the totatable appendage is not along its rotational axis or the rotational centre, additional effects may be exerted on the attitude of the central body.

关 键 词：气浮台 多体动力学 转动附件 数值仿真 

分 类 号：V442[航空宇航科学与技术—飞行器设计]