中文摘要：

针对索杆铰接式伸展臂的结构特点,提出基于能量互等原理的伸展臂连续梁等效动力学模型的建模方法。推导出伸展臂桁架单元的应变能与动能关于节点位移、几何结构参数及材料参数的表达形式。基于伸展臂桁架与连续梁等效模型两者之间应变能、动能分别相等原理,建立伸展臂桁架结构与连续梁等效模型之间的几何结构参数与材料参数的联系式,推导出伸展臂连续梁等效模型的等效刚度矩阵和质量矩阵。运用提出的索杆铰接式伸展臂连续梁等效模型化方法计算出伸展臂原理样机的等效刚度和质量参数。分别运用连续梁等效模型和有限元模型对伸展臂的动力学特性进行分析,通过理论计算和仿真分析得到伸展臂前8阶固有频率。通过有限元仿真结果与伸展臂等效模型计算结果对比分析,验证伸展臂连续梁等效模型的正确性。通过对不同长度伸展臂各阶固有频率的对比,得出伸展臂连续梁等效模型对于分析大型索杆铰接式伸展臂动力学特性具有较高的精度。

英文摘要：

A rational modeling method based on energy equivalence principle is presented for developing an equivalent dynamic continuum beam model of cable-strut deployable articulated mast according to the structural characteristics of the mast.A basic truss bay of the mast is isolated,and its strain and kinetic energies expression in terms of nodal displacement,geometrical structure and material parameters of the truss bay are derived.The relationship of geometrical structure and material parameters between the mast truss structure and the equivalent continuum beam model is established based on strain and kinetic energies equivalence principle between the mast truss bay and the continuum beam model,the equivalent stiffness matrix and mass matrix of equivalent continuum beam model are derived.Equivalent stiffness and mass parameters of the mast principle prototype are calculated by using equivalent continuum beam modeling method of the cable-strut deployable articulated mast.Dynamics of the mast is analyzed based on the equivalent continuum model and the finite element model,first eight natural frequencies of the mast are obtained through theoretical calculation and simulation.The equivalent continuum beam model of the mast is verified through comparison between simulation results of the finite element model and theoretical calculation results of the equivalent model.It is concluded that the equivalent continuum beam model is more accurate to analyze dynamics of long cable-strut deployable articulated mast through natural frequencies comparison of masts with different length.