反作用轮是高精度航天器姿态控制系统的主要扰动源之一,其转动副间不可避免的含有间隙,研究铰间隙对航天器动态特性影响,对建立更精确的反作用轮扰动模型至关重要.基于虚拟样机技术,采用非线性弹簧阻尼模型建立间隙处的接触碰撞模型,同时采用修正的Coulomb摩擦模型考虑运动副间隙处的摩擦作用,进而建立考虑反作用轮铰间隙的卫星系统虚拟样机模型,对其进行动力学仿真分析,详细分析间隙对系统各动态变量的影响,为卫星系统的结构设计及控制策略的制定提供参考.%Reaction wheel has been identified as one of the main disturbance sources that affect the precision of attitude control system of spacecraft. The influence of the joint clearance in reaction wheel on the dynamic characteristics of satellite is essential to be considered for the establishment of an accurate reaction wheel disturbance model. Based on virtual prototype technique, the contact dynamics model for joint clearance was established using the nonlinear equivalent spring-damping model and the friction effect was considered by using the revised Coulomb friction model. The virtual prototype of the satellite considering the clearance was then constructed and the influence of the clearance on dynamic characteristics was analysed. The results provide a reference to the satellite system's design and are helpful to the development of control strategy.
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