中文摘要：

针对星载天线双轴定位机构的空间漂浮基无根树多体系统动力学实时仿真及控制系统设计的需要,应用空间算子代数（SOA）理论进行多体系统动力学建模和仿真;提出了SOA描述的动力学递推及求解算法,并面向对象思想定义多体系统数据结构,进行了动力学计算流程设计。所提方法形式直观、便于推导、物理意义明确及达到了O（n）计算效率。通过与Simpack仿真结果进行比较,结果表明SOA的多体系统动力学算法求解速度更快、仿真结果精度更高。

英文摘要：

The two-axes position mechanism of a satellite antenna is a free-floating space rootless and multi-body system.Based on the need of dynamics real-time simulation and control system design,spatial operator algebra（SOA） theory is applied to the multi-body systems modeling and simulation.The dynamics recursion and solution algorithm of SOA is proposed,and the object-oriented idea is utilized to define the data structure of the multi-body system,and to design the flow-chart of the dynamical calculation.This method is heuristic,easy to derivate,and has clear physical sense and O（n） computational efficiency.Through comparison with Simpack simulation results,it shows that,the multi-body dynamic algorithm of SOA has higher simulation accuracy and faster computation speed.