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为了更好解决复杂多约束下的在线轨迹优化问题,研究了一种基于联立求解框架进行轨迹优化的算法。此方法是一种直接法,先利用有限元正交配置法将状态和控制变量同时离散化,然后使用内点算法对离散得到的非线性命题进行求解。从平衡解的精度和计算代价的角度出发,引入了针对内点算法的收敛深度控制策略来改进方法的快速收敛性。最后,以某航天器月面上升段最优入轨任务为算例,验证了算法的精度和快速收敛性。
In order to solve the problem of on-line trajectory optimization with complex and multi-constraints, an algorithm of trajectory optimization based on simultaneous solving is studied. This method is a direct method. At the same time, finite element orthogonal configuration method is used to discretize state and control variables at the same time, and then the discrete-point nonlinear propositions are solved by using the interior point algorithm. From the perspective of the accuracy of the equilibrium solution and the computational cost, the convergence depth control strategy for the interior point algorithm is introduced to improve the fast convergence of the method. Finally, an example of the optimal orbital mission of a spacecraft moonrise section is given, which verifies the accuracy and fast convergence of the algorithm.