基于对数势函数的深空探测器姿态规划与控制方法

Deep Space Explorer Attitude Planning and Control Method Based on Logarithmic Potential Function

针对深空探测器姿态约束机动问题,提出一种基于对数势函数的多约束姿态机动规划方法。首先,定义了两种姿态指向约束,即禁止约束和强制约束,并利用禁止约束和强制约束的性质构建了对数势函数作为Lyapunov函数;在此基础上采用改进退步法设计了探测器姿态机动控制器。数值仿真结果表明:该方法不仅在多约束情况下能够自主求出安全的机动路径,而且在分析和求解上计算效率较快,对于星上资源有限的深空探测器具有实际运用价值。

A multi-constrained attitude maneuver planning method based on logarithmic potential function is proposed in this paper for attitude maneuver problem of deep space explorer.Firstly,two kinds of pointing constraints-forbidden constraint and mandatory constraint are defined, which are used to build alogarithmic potential function.This logarithmic potential function is chosen as the Lyapunov function.On this basis an attitude maneuver controller is designed via the improved back-stepping method.Numerical simulation results show that by this method,a safe attitude maneuver path could be autonomously planned out under complex constraints,and computational efficiency meets the requirements.So it has practical application for deep space explorer with limited resources.