基于自适应高斯伪谱法的SGCMG无奇异框架角轨迹规划

SGCMG Non-Singularity Trajectory Programming Algorithm Based on Adaptive Gauss Pseudospectral Method

针对采用SGCMG作为姿态执行机构的小卫星,在大角度机动过程中SGCMG系统易陷入奇异的问题,提出了一种基于自适应Gauss伪谱法的SGCMG无奇异框架角轨迹快速规划方法。该算法综合考虑到实际工程应用中存在的SGCMG框架角受限、框架角速度受限,奇异量度受限,星体机动角速度受限以及星体初始和终端状态受限等约束条件,将卫星大角度机动问题看成满足上述一系列约束条件和边界条件同时实现某一性能指标最优的最优控制问题。然后,结合自适应高斯伪谱法与非线性规划技术,求解带有边界约束与路径约束的最优化问题,获得实现性能指标最优的无奇异SGCMG系统轨迹。仿真结果表明:该算法能够在25s的时间内给出顺利实现大角度机动并满足所有约束条件,同时近似精度优于10-3的高精度平滑轨迹。

A kind of fast trajectory optimization method based on adaptive Gauss pseudospectral method is proposed to solve the problem that there always exists the singularity problem in large-angle maneuver of the satellites with SGCMG as their actuators. This method takes the large-angle maneuver problem as an optimization problem which met the boundary condition and a series of path constraints including gimbal angle constraint, gimbal rates constraint, singularity index constraint and angular rate constraint, and simultaneously minimize some performance criterion. And then, taking combination with adaptive Gauss pseudospectral method and nonlinear programming technique to solve the optimization problem, the optimal non-singularity gimbal angle trajectory is gotten. Numerical simulation suggests that the smooth optimization trajectory satisfied with all constraints is generated for 25s or less, and the trajectory accuracy is better than 10^-3.