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Dynamic modeling of flexible multibody structures

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2 Author(s)
Yen, G.G. ; US Air Force Phillips Lab., Kirtland AFB, NM, USA ; Kwak, M.K.

This work is primarily concerned with the development of a mathematical formulation capable of treating the problems of maneuvering and control of flexible multibody structures. The analytical formulation is based upon equations of motion in terms of quasi-coordinates derived for each substructure independently. The individual substructures are made to act as a single structure by means of a consistent kinematical synthesis. In recognition of smaller elastic motions, a perturbation approach is developed whereby the rigid-body maneuvering of the system defines the zero-order kinematical dynamics, while the elastic motions and perturbations from the rigid-body maneuvering define the first-order kinematical synthesis. As a numerical example, the Planar Articulating Controls Experimental (PACE) test article is maneuvered according to a bang-bang control law by means of torque applied to the shoulder and the elbow. The numerical simulation shows a close match with the detailed modal survey

Published in:

Aerospace and Electronic Systems, IEEE Transactions on  (Volume:35 ,  Issue: 1 )

Date of Publication:

Jan 1999

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