Modeling the deployment of a solar battery using the equations of motion in Hamiltonian variables

The problem of mathematical modeling of the process of deployment of a solar battery of a spacecraft is considered. As a design scheme, a multibody system, in the structure of which there are closed kinematic cycles, was chosen. A new form of the equations of motion is presented, in which the Hamiltonian variables are used as variables that uniquely determine the position and velocity distribution of the bodies in space: generalized coordinates and generalized impulses. The purpose of this study is to illustrate, by the example of a solar battery, all the stages of applying these equations in the process of computer simulation of the dynamics of mechanical systems with closed kinematic cycles.