国防科技大学学报2024，Vol.46Issue(4)：63-73,11.DOI:10.11887/j.cn.202404007
复杂约束下航天器高效机动路径规划和时域调节方法
Time efficient attitude maneuver path planning and time scaling method under complex constraints
摘要
Abstract
For the large-angle attitude maneuver of spacecraft under complex constraints,a efficient maneuver path planning for attitude and time scaling method on 3-dimensional special orthogonal group was proposed.Aiming at handling the attitude constraints during maneuvering,a gradient-based obstacle avoidance methodology was designed and the attitude routes and desired angular velocity trajectory was obtained on the virtual time domain.Considering the maximum output torque of the actuator,an iterative nonlinear time scaling method was proposed to adjust the angular velocity/control torque.Simulation results show that the proposed method not only satisfies the attitude constraints and the control torque constraints during the spacecraft maneuver process,but also significantly shortens the maneuver time comparing with existing methods.Novel results provide a new insight for efficient constrained attitude planning and controller design.关键词
姿态规划/时域调节/姿态约束/控制力矩约束/三维特殊正交群Key words
attitude planning/time scaling/attitude constraints/control torque constraints/SO(3)分类
航空航天引用本文复制引用
岳程斐,鲁明,吴凡,霍涛,陈雪芹..复杂约束下航天器高效机动路径规划和时域调节方法[J].国防科技大学学报,2024,46(4):63-73,11.基金项目
国家自然科学基金资助项目(12372045,62303138) （12372045,62303138）
广东省基础与应用基础研究基金资助项目(2023B1515120018) （2023B1515120018）
深圳市科技计划资助项目(JCYJ20220818102207015) （JCYJ20220818102207015）
