中文摘要：

基于Hertz接触理论,建立了表达角接触球轴承非线性刚度的二自由度矩阵模型;以导引头伺服机构为对象,建立了导引头陀螺装配结构六自由度非线性运动微分方程;借用经典数值算法的思想,提出了一种求解陀螺装配结构六自由度非线性运动微分方程的四阶Runge-Kutta算法,并对陀螺支架的非线性动力学特性进行了虚拟扫频分析。研究发现,由于角接触球轴承接触刚度的非线性,陀螺支架的谐振峰分布在扫频的所有频率范围（0～500Hz）内,而增大装配预紧力却可以提高陀螺装配结构的谐振频率,减少谐振峰的出现频次,故工程上可通过调节装配预紧力来抑制谐振峰值。

英文摘要：

Based on the contact theory of Hertz,a 2-D nonlinear stiffness matrix of angular contact ball bearing was calculated,and then a 6-D nonlinear dynamics equation of missile seeker servo mechanism assembly structure including both angular contact ball bearings and frame structure was established.According to the thought of the Runge-Kutaa algorithm for differential equation,a four-step Runge-Kutaa algorithm for solving the 6-D nonlinear dynamics equation was proposed.Finally,the algorithm was used to analyze the nonlinear dynamics of seeker servo mechanism assembly structure,and the analysis results show that,owing to the nonlinear stiffness of the angular contact ball bearings,the resonance peak of gyro supporting frame cover the whole scope from 0 to 500 Hz,and both the resonance frequency and the resonance peak will increase with the preload on the angular contact ball bearings.Therefore the resonance peak can be controlled by adjusting the preload and increasing damping.