E-sail technology enables a continuous propulsion system based on the repulsive force exerted by solar wind protons on a set of positively charged tethers. Diverse methods have been explored within the last two decades to investigate the dynamics of E-sail. This work introduces a dynamic multibody model combining Absolute Nodal Coordinate Formulation (ANCF) and Natural Coordinates (NC) to describe flexible and rigid bodies, respectively. A complete formulation for cable elements considering nonlinear bending and internal damping is provided. Coulomb propulsive forces are included and the expressions for the integration of the resulting Differential Algebraic Equation (DAE) system are given. Based on the simulation results obtained from the proposed model, the convenience of considering bending stiffness to accurately capture the dynamics is proven. The in-plane and out-of-plane oscillations of the tethers are reported and explained. By means of the Power Spectral Density (PSD) representation, the relevant role on the E-sail dynamics of the spin, bending and axial modes, associated to the well-known problem of a rotating cable with a tip mass, is described. The force and perturbation moments transmitted to the central body are compared to the generated thrust, and its complexity and instability under non-null sailing angle operation is established.

E-sail 技术基于太阳风质子对一组带正电的系绳施加的排斥力实现连续推进系统。在过去的二十年中，人们探索了多种方法来研究 E-sail 的动力学。这项工作引入了一种结合绝对节点坐标公式 (ANCF) 和自然坐标 (NC) 的动态多体模型，分别描述柔性体和刚体。提供了考虑非线性弯曲和内部阻尼的电缆元件的完整公式。包括库仑推进力，并给出了所得微分代数方程 (DAE) 系统的积分表达式。基于从所提出模型获得的仿真结果，证明了考虑弯曲刚度以准确捕获动力学的便利性。报告并解释了系绳的平面内和平面外振荡。通过功率谱密度 (PSD) 表示，描述了旋转、弯曲和轴向模式对 E-sail 动力学的相关作用，与众所周知的带尖端质量的旋转电缆问题相关。将传递到中心体的力和扰动力矩与产生的推力进行比较，并确定其在非零航行角操作下的复杂性和不稳定性。