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为了避免控制力矩陀螺在大角度姿态机动过程中的饱和,规划了最优的姿态机动路径,使大角度姿态机动过程中控制力矩陀螺的角动量峰值最小。建立了姿态机动的动力学与控制数学模型及姿态路径规划的数学模型,采用直接打靶法将控制路径规划问题转化为带参数约束的非线性参数优化问题,采用序列二次规划算法进行求解。数值仿真的结果表明通过姿态路径规划可以使大角度姿态机动过程中的控制力矩陀螺的角动量远离饱和。
In order to avoid the saturation of the control moment gyroscope in the maneuver of the large-angle attitude, the optimal attitude maneuvering path is planned so as to minimize the angular momentum peak of the control moment gyroscope during the maneuver of the large-angle attitude. The math model of attitude maneuver dynamics and math model and the mathematical model of attitude path planning are established. The direct shooting method is used to transform the control path planning problem into the nonlinear parameter optimization problem with parameter constraint. The sequence quadratic programming algorithm is used to solve the problem. Numerical simulation results show that the angular momentum of the control moment gyroscope can be kept away from saturation during the attitude maneuver of large-angle attitude through the attitude path planning.