控制力矩陀螺辅助机动路径快速规划研究

Rapid path planning of Control Momentum Gyroscopes Assisting Maneuver

控制力矩陀螺辅助机动(Control Momentum Gyroscopes Assisting Maneuver,CMGs AM)作为新型的空间站大角度姿态机动技术,其对推力器机动技术与基于控制力矩陀螺(Control Momentum Gyroscopes,CMGs)的零燃料机动(Zero Propellant Maneuver,ZPM)技术进行了高效综合。为解决机动初始条件偏差等干扰的影响,提高CMGs AM机动的可靠性与灵活性,研究了燃料最优指标CMGs AM路径的快速规划。针对燃料最优解结构复杂、数值求解困难等问题,改进提出了变区间局部快速路径规划(Rapid Path Planning,RPP)方法,将区间时长扩充为优化变量,同时指定bang-off-bang的推力器控制规律,实现了优化CMGs AM路径的快速求解。

As a new large angle maneuver technique concept for space station, Control Momentum Gyroscopes Assisting Maneuver （CMGs AM） is an efficient technique which employs both the Control Moment Gyroscopes （CMGs）and thruster as the actuators. To enhance the performance of maneuver, the rapid planning of fuel-optimal CMGs AM path is studied. For the complex structure of the fuel-optimal control solution, the numerical computation is demanding. The recently proposed Rapid Path Planning （RPP） method is a new trajectory optimization method which possesses the sparsity of transformed Nonlinear Programming （NLP）and continuous feasibility of solution. It may present the optimized solution rapidly when the number of parameters is within certain range. However, the current RPP method is incompetent to acquire CMGs AM path. A free interval local RPP method is developed by allowing the length of time interval to be optimized, and the bang-off-bang structure of thrust control is indirectly implemented. The rapid planning of fuel suboptimal path for CMGs AM has been achieved by this method.