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研究了基于最优交会轨迹的空间自主交会跟踪控制问题。根据应变能最小原则选取空间三次最优几何Hermite曲线作为交会参考轨迹,该参考轨迹在时间固定、端点及相应切矢量给定条件下应变能最小,且构造简单,光滑性好。针对空间交会模型的强耦合非线特性采用机器人控制中常用的计算力矩法设计参考轨迹跟踪控制器,实现了固定时间最优自主交会。仿真结果表明本文提出的交会策略速度增量小,计算复杂度低。
This paper studies the problem of space intersection control based on the optimal intersection trajectory. According to the principle of least strain energy, the cubic optimal Hermite curve of space is selected as the reference trajectory of intersection. The reference trajectory has the smallest strain energy at fixed time and the given endpoint and corresponding shear vector, and has simple structure and good smoothness. Strong Coupling Nonlinearity for Space Rendezvous Model The reference trajectory tracking controller is designed by using the computational moment method commonly used in robot control to realize the optimal autonomic rendezvous with fixed time. The simulation results show that the proposed rendezvous strategy has a small increment of speed and low computational complexity.