电磁航天器编队动力学建模与运动规划方法

Dynamics modeling and motion programming for electromagnetic formation flight

基于电磁航天器作用原理,利用拉格朗日方法,建立电磁航天器'绳系'动力学模型.基于偏差线性化动力学模型,以切向、径向编队为例,分析编队构型保持稳定性,设计构型保持控制律;将双星电磁航天器编队(EMFF,Electromagnetic Formation Flight)重构运动规划问题转化为标准优化问题,利用高斯伪谱优化方法进行求解.并提出序列控制策略,将该双星模型扩展应用于多星电磁编队构型重构问题,转化为多阶段运动规划问题利用多阶段优化方法进行求解.仿真结果表明本文的动力学建模方法和控制方法是可行的.

Based on the mechanism of electromagnetic spacecraft, the relative translational ＂tethered＂ dynamics model for two-craft electromagnetic formation flight （EMFF） in low earth orbit was developed by using Lagrange theory. The linearized equations for motion and stability analysis of two-craft radial and alongtrack formation were investigated. To stabilize the formation structure, the feedback control law was studied. The motion programming of electromagnetic formation could be transformed into a standard optimal problem, which could be perfectly solved by the Gauss pseudospectral method. In order to deal with the reconfiguration maneuver of multi-craft electromagnetic formation, the sequence control strategy was proposed. Then the multi-craft problem was transformed into a multi-phase motion planning problem. Thus, the problem of multiphase optimal control could be solved by Gauss pseudospectral optimization software （GPOPS）. The simulation result shows that the methods of dynamics modeling and motion planning proposed in this paper are valid.