This study presents a novel flexible multibody dynamics modeling method tailored to spacecraft with intricate motion features such as multi-axis antenna actuation, robotic manipulations, and space station module rotation. Using a floating base and a tree-topology structure, the model effectively simulates the kinematics and dynamics of large-angle joint rotations and elastic deformations, leveraging the Lagrangian framework and finite element analysis. An advanced augmented proportional–derivative (APD) control scheme is also introduced, incorporating system dynamics for enhanced predictive control, accommodating complex interactions and nonlinear system behaviors. Our modeling approach, compared with the commercial Adams software, shows similar system responses while reducing computation time by about 70%, highlighting its efficiency and accuracy. Moreover, incorporating the APD strategy into our system enhances tracking precision, achieving a 90% reduction in error compared with conventional proportional–derivative controls, underscoring the benefits of combining dynamic modeling with control improvements.

中文翻译：

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具有集成控制应用的复杂航天器的高效、准确的灵活多体动力学建模


这项研究提出了一种新颖的灵活多体动力学建模方法，适合具有复杂运动特征（例如多轴天线驱动、机器人操作和空间站模块旋转）的航天器。该模型采用浮动底座和树形拓扑结构，利用拉格朗日框架和有限元分析，有效模拟大角度关节旋转和弹性变形的运动学和动力学。还引入了先进的增强比例微分（APD）控制方案，结合系统动力学来增强预测控制，适应复杂的相互作用和非线性系统行为。与商业 Adams 软件相比，我们的建模方法显示出相似的系统响应，同时减少了约 70% 的计算时间，凸显了其效率和准确性。此外，将 APD 策略纳入我们的系统可提高跟踪精度，与传统比例微分控制相比，误差减少 90%，凸显了动态建模与控制改进相结合的优势。