It is a conventional method to build dynamic models of flexible spacecraft with hybrid coordinates. This kind of modeling has gotten a great success both in theory and practice to spacecraft with rigid main body and large flexible appendages. However, modern spacecraft are becoming much bigger and more and more complicated. Their developing trend in structure is： 1. Rigid main body is attached by flexible module, to which kinds of large flexible appendages are fixed. This kind of spacecraft is a complicated structure system composed of rigid main body and composite flexible structures; 2. The flexible multi-modules main body, taking on a lower stiffness, and several kinds of large flexible appendages attached to it make the whole spacecraft as an all-flexible structure system.

It is impossible to build the dynamic equations of a spacecraft by its flexible modes, when some of its flexible appendages are not fixed to the rigid main body directly. In order to take full advantage of the achievement of spacecraft dynamics of rigid main body with flexible appendages, this paper makes dynamic models of composite flexible structure spacecraft by hybrid coordinates with taking into consideration the composite transition of linking point between flexible bodies. The corresponding computing software DASFA 2.0 has been used in space engineering design and analysis.