论文部分内容阅读
应用伪谱法解决欠驱动刚性航天器的时间最优轨迹规划问题.首先建立欠驱动刚性航天器的动力学和运动学模型,对于给定的初末姿态,选取机动时间最短为待优化的性能指标,并考虑到实际控制输入受限,将其转化为优化过程中的不等式约束条件;然后应用Legendre伪谱法,将优化问题离散化为非线性规划问题进行求解.仿真结果表明,应用伪谱法规划得到的欠驱动航天器最优轨迹,能够较好地满足各种约束条件,而且计算精度高、速度快,具有良好的实时性.
Pseudo-spectral method is used to solve the time optimal trajectory planning problem of under-actuated rigid spacecraft. First, the kinematic and kinematic models of under-actuated rigid spacecraft are established. For a given initial and final attitude, the maneuvering time is chosen as the minimum to be optimized Which can be transformed into the inequality constraints in the optimization process. Then, the Legendre pseudospectral method is used to discretize the optimization problem as a nonlinear programming problem. The simulation results show that the application of pseudospectral The optimal trajectory of the under-actuated spacecraft obtained from the law planning can better meet various constraints, and has high computing precision, high speed and good real-time performance.