随着航天技术的发展，大型空间结构是未来航天领域发展的趋势。受限于运载火箭的单次运载能力，大型空间结构的在轨建造需要运用在轨组装技术来完成。大型空间结构在轨组装期间不可避免的组装撞击会造成空间结构的振动，影响组装的顺利完成。结构在整个组装过程中呈现变结构、变质量、大柔性等特点，其动力学模型的建立与分析是当前研究的热点。本文以OMEGA空间太阳能电站为研究对象，开展在轨组装动力学建模、组装过程中的振动分析以及组装序列规划研究，具体工作如下：

1. 建立了具有变结构、变质量以及大柔性特点的在轨组装动力学模型。首先从一个简单的平面桁架结构的组装着手，分析大型空间结构在轨组装过程中变质量、大柔性以及变结构等问题。从数学和力学上对具有这些特征的结构在轨组装进行合理的描述。将组装时的变结构分成两个阶段，一是在组装过程中装配好的结构在不断改变，二是第 次组装过程中的第 个子结构也在改变，对第 个模块的组装过程进行了详细的动力学建模。同时对整个组装过程中的时变参数进行了分析。

2. 建立了组装阶段与代数微分方程对应的多柔体分析有限元模型，同时进行了组装全过程仿真分析。首先根据组装单元具有模块化特点，将结构的组装划分为M个阶段，按照提取式建模策略，实现了多柔体分析有限元模型的建立和更新。基于所建立的模型完成兆瓦级OMEGA空间太阳能电站核心圈以及聚光镜组装全过程仿真分析，在仿真分析中考虑了模块的组装撞击、模块的展开和展开驱动、机器人的爬行以及组装序列对组装过程结构振动的影响。数值仿真结果说明，随着组装的进行，结构整体的动力学特性有明显的变化并且变化过程与模块的组装序列有关。模块的组装撞击、机器人爬行和展开驱动都会影响结构整体的稳定性。

3. 提出一种考虑拓扑约束并且使组装路径最短以及组装过程中的姿态扰动最小的混合优化算法。将聚光镜组装序列规划问题分解成组装路径和姿态扰动的最优问题，在两个优化步骤中进行。以结构几何拓扑约束以及组装的可行性为约束条件，引入了拓扑约束C，考虑了模块之间的柔性连接，以路径最短和姿态扰动最小为优化指标，结合蚁群算法解决上述约束的组装路径规划问题。仿真结果证明了所提出的算法可以在满足路径最短以及最小姿态扰动的情况下完成聚光镜的组装任务。

 

Thanks to the advances in space technology, the aerospace field is expected to witness the growth of large space structures in the future. To ensure the successful construction of these structures on-orbit, on-orbit assembly technology is essential. However, when on-orbit assembly of large space structures is conducted, the vibration of the space structure will be unavoidable, thus impeding the smooth completion of the assembly. During the on-orbit assembly of large space structures, the inevitable assembly impact will cause the vibration of the space structure and affect the smooth completion of the assembly. During the assembly process, it presents the characteristics of variable configuration, variable mass, large flexibility, etc. The establishment and analysis of its dynamic model is a hot topic in current research. This thesis takes OMEGA-SSPS as the research object to carry out structural dynamic modeling, vibration analysis and sequence planning research. The main work of this thesis is as follows:

 

1. A dynamic model of on-orbit assembly with variable structure, variable mass, and large flexibility is established. Beginning with the structural construction of a straightforward planar cantilever beam, this thesis investigates the issues of variable mass, considerable suppleness, and variable structure in the on-orbit assembly of expansive space structures. The physical and mathematical depiction of the spatial assembly of structures with these features is sensible. The variable structure during assembly is divided into two stages: one is that the assembled structure is constantly changing during the assembly process, and the other is that the nth substructure during the nth assembly process is also changing. A comprehensive dynamic model is created to construct the  module. Throughout the assembly, the time-varying parameters are analyzed.

 

2. A finite element model of multi-flexible body analysis corresponding to algebraic differential equation were established and the whole process simulation analysis. According to the modular characteristics of the assembly unit, the assembly of the structure was divided into M stages. According to the extractive modeling strategy, the finite element model of multi-flexible body analysis and its updating were established. This model enabled the whole process simulation analysis of the core circle and condenser assembly to be completed. In the simulation analysis, the effects of module assembly impact, module deployment and deployment drive, robot crawling and assembly sequence on structural vibration during assembly are considered. The numerical simulation results demonstrate that with the assembly process progresses, its dynamic characteristics become more pronounced and the changing process is related to the assembly sequence of modules. Both the robot crawling and the expansion drive will increase the vibration amplitude of the structure.

 

3. A hybrid optimization algorithm is proposed which takes topological constraints into account and minimizes the assembly path and attitude disturbance during assembly. The assembly sequence planning problem of the whole module is carried out in two optimization steps. With geometric topological constraints of the structure and the feasibility of assembly as constraints, the shortest path and minimum attitude disturbance as optimization indexes, the assembly path planning problem with the above constraints is solved by a hybrid optimization algorithm The simulation results prove that the algorithm proposed in this chapter can realize the assembly task of the concentrator under the condition of the shortest path and minimum attitude disturbance.

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