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针对航天器姿态机动过程中受几何约束的问题,提出一种控制方法使系统在满足局部约束的情况下获得较好的全局性能.为了考虑全局性能并减少全局规划的计算代价,采用伪谱法以较少节点得到满足几何约束的路径节点.在局部节点跟踪控制中,通过分析航天器姿态机动所受的几何约束以及四元数在线性化状态方程中的传递形式,设计具有保守性的几何约束凸化表达式,并给出了姿态机动预测控制律.仿真结果验证了所提出方法的可行性和有效性.
Aiming at the problem of spacecraft attitude maneuver constrained by geometry, a control method is proposed to make the system obtain better global performance under partial constraints. In order to consider the global performance and reduce the computational cost of global planning, the pseudospectral method With fewer nodes, the path nodes satisfying the geometrical constraints are obtained.In the local node tracking control, by analyzing the geometrical constraints of the attitude maneuvering of the spacecraft and the transfer form of the quaternion in the linear state equation, a conservative geometric Constrained convex expression and the attitude maneuver predictive control law is given.The simulation results verify the feasibility and effectiveness of the proposed method.