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双刚体航天器系统在无外力矩作用时,其姿态运动可通过连接双刚体航天器的关节铰进行控制,这种关节铰可由球铰或万向节铰构成.本文利用系统相对于总质心的动量矩守恒这一特性研究了双刚体航天器的三维姿态运动控制问题.分别导出带球铰和万向节铰连接的双刚体航天器系统三维姿态运动控制模型,并将系统的姿态运动控制问题转化为无漂移系统的运动规划问题.利用最优控制和样条逼近方法,在控制输入的样条逼近中引入粒子群算法,提出基于样条逼近的最优运动规划数值算法.运动规划的最优控制是光滑的,且初值和终值均为零,通过数值仿真,表明该方法对带球铰和万向节铰连接的双刚体航天器三维姿态运动规划是有效的.
When there is no external moment, the rigid-body spacecraft system can be controlled by articulated joints connected with two rigid-body spacecraft, which can be composed of ball joints or universal joints.In this paper, This paper studies the three-dimensional attitude control problem of a two-rigid spacecraft with three-dimensional momentum motion, and studies the three-dimensional attitude control model of a two-rigid spacecraft with hinged joints and joint joints. Which is transformed into a drift-free motion planning problem.Using optimal control and spline approximation, a particle swarm optimization algorithm is introduced into spline approximation of control input to propose a numerical algorithm of optimal motion planning based on spline approximation. The optimal control is smooth and the initial and final values are zero. Numerical simulation shows that the proposed method is effective for 3D pose planning of two-rigid spacecraft with hinged joints and joints.