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针对在轨服务航天器的快速机动和姿轨协同控制的特点,研究了基于姿轨耦合一体化模型的最优控制方法。建立了包括转动和平动的六自由度相对运动耦合非线性模型,连续偏心推力矢量既可以提供位置控制力,也可以输出姿态控制转矩。利用动态模型线性化方法和θ-D构造性优化算法给出相对运动姿轨耦合最优控制问题的数值解法,同时控制服务航天器相对位置和相对姿态,使其直线逼近一个失效慢旋目标。仿真结果证明,由于在动态优化问题中采用了构造性求解,所提方法在保证相对运动稳定和动态性能的前提下计算量小,对未来应用具有一定现实意义。
Aiming at the characteristics of fast maneuvering and attitude-coordinated control of orbiting spacecraft, the optimal control method based on integrated model of attitude and rail coupling is studied. A six-degree-of-freedom relative motion-coupled nonlinear model including rotational and translational motion is established. The continuous eccentric thrust vector can provide position control force and attitude control torque. Using the dynamic model linearization method and the θ-D structural optimization algorithm, a numerical solution to the optimal control of attitude-rail coupling is proposed. The relative position and relative attitude of the spacecraft are controlled so that the linear approximation of a failed slowly rotating target is achieved. The simulation results show that, due to the constructive solution used in the dynamic optimization problem, the proposed method is less computationally intensive under the premise of ensuring relative motion stability and dynamic performance, and has certain practical significance for future applications.