航天器多约束姿态机动时-虚混合域规划方法

Time-and-Virtual Mixed-Domain Planning Method of Spacecraft Attitude Reorientation under Multiple Constraints

针对姿态指向受限以及角速度和控制力矩有界等复杂多约束下航天器低能量姿态机动规划问题,首先提出了时-虚混合域的概念,即时域和虚拟域同步存在并且同步求解虚拟域姿态路径以及时域角速度和控制力矩。进一步地,建立时-虚混合域上非线性约束问题模型。然后,提出了时-虚混合域单点式非线性姿态机动规划方法,通过非线性参数优化和单点式路径分解置换规划求解得到姿态机动轨迹以及角速度和控制力矩曲线。仿真结果表明,该方法可以高效地解决多约束姿态机动规划问题,有效地降低姿态机动过程中的能量消耗,得到连续光滑的姿态机动规划结果。

A spacecraft is limited by multiple conditions during an attitude maneuver,such as the forbidden and mandatory pointing constraints,the bounded constraints of the angular velocity and control torque,and the limited onboard energy and fuel.For the problem of low-energy attitude reorientation planning for spacecraft under complex multiple constraints,the concept of the time-and-virtual mixed-domain is firstly proposed,that is,the time domain and virtual domain exist synchronously,and the attitude path on the virtual domain and the angular velocity and control torque on the time domain are solved synchronously.Further,the model of the nonlinear constraint problem on the time-and-virtual mixed-domain is established.Then,the single-node nonlinear attitude maneuver planning method based on the time-and-virtual mixed-domain is proposed.The attitude maneuver trajectory,and angular velocity and control torque curves are obtained by the nonlinear parameter optimization and single-node path decomposition-and-substitution planning.The simulation results demonstrate that the proposed method can efficiently solve the multi-constraint attitude reorientation planning problem,effectively reduce the energy consumption in the process of the attitude maneuver,and obtain continuous and smooth attitude maneuver planning results.