Abstract
The assumed-modes method in multibody dynamics allows the elastic deformation of each component in the system to be approximated by a sum of products of spatial and temporal functions commonly known as modes and modal coordinates, respectively. This paper focuses on the choice of component modes used to model articulating and nonarticulating flexible multibody systems. Attention is directed toward three classical component mode synthesis methods whereby component normal modes are generated by treating the component interface as either fixed, free, or loaded with mass and stiffness contributions from the remaining components. The fixed and free interface normal modes are augmented by static shape functions termed constraint and residual modes, respectively. In this paper, a mode selection procedure is outlined whereby component modes are selected from the Craig-Bampton (fixed interface plus constraint), MacNeal-Rubin (free interface plus residual), or Benfield-Hruda (loaded interface) mode sets in accordance with a modal ordering scheme derived from balanced realization theory. The success of the approach is judged by comparing the actuator-to-sensor frequency response of the reduced-order system with that of the full-order system over the frequency range of interest. A finite element model of the Galileo spacecraft serves as an example in demonstrating the effectiveness of the proposed mode selection method.
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