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带有万向联轴节联结的双刚体航天器系统在无外力矩作用时,其姿态运动可通过联结双刚体航天器的万向联轴节进行控制,这种由控制输入数目少于系统自由度的系统称为欠驱动系统。该文利用系统相对于总质心的动量矩守恒这一特性研究了欠驱动双刚体航天器的三维姿态运动控制问题。导出带有万向联轴节联结的双刚体航天器系统三维姿态运动控制模型,并将系统的控制问题转化为无漂移系统的运动规划问题,利用最优控制技术和小波分析方法,提出基于小波逼近的遗传算法最优运动规划数值算法。通过数值仿真,表明该方法对有万向联轴节联结的欠驱动双刚体航天器三维姿态运动的运动规划是有效的。
When there is no external torque, the attitude movement of a two-rigid spacecraft with a universal joint can be controlled by the universal joint of a two-rigid spacecraft. The number of controlled inputs is less than that of the system Degree of system known as under-driven system. In this paper, the three-dimensional attitude control problem of under-actuated two-rigid spacecraft is studied by using the feature that the momentum moment of the system relative to the total center of mass is conserved. The three-dimensional attitude control model of two-rigid-body spacecraft with universal coupling is derived and the control problem of the system is transformed into the motion planning problem of drift-free system. By using the optimal control technique and the wavelet analysis method, Approximation by Genetic Algorithm Optimal Motion Planning Algorithm. Numerical simulation shows that this method is effective for the motion planning of three-dimensional attitude movement of under-actuated two-rigid spacecraft with universal coupling.