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Trajectory planning method for attitude maneuver

An attitude maneuvering and trajectory planning technology, applied in attitude control and other directions, can solve the problems of difficult sequence selection, reduce the rapidity of attitude maneuvering, and inconsistency in the time when the trajectory planning of each axis is in place. Effect

Inactive Publication Date: 2015-01-14
BEIJING INST OF CONTROL ENG
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] If the single-axis attitude maneuvering technology is still used to achieve multi-axis attitude maneuvering, on the one hand, the attitude maneuvering trajectory is not the shortest path; It will directly affect the attitude maneuver time and reduce the rapidity of attitude maneuver
[0004] At the same time, traditional single-axis maneuvers use angles for attitude description. For multi-axis and large-angle attitude maneuvers, there is a problem that it is difficult to select the sequence when expressing attitude angles.

Method used

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  • Trajectory planning method for attitude maneuver

Examples

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Effect test

Embodiment 1

[0071] A sun-synchronous orbit satellite with an orbital altitude of 700km, an orbital inclination of 98°, and a maximum angular velocity of a star maneuver of 2° / s.

[0072] The satellite performs a two-axis maneuver in which:

[0073] (1) Initial attitude: the initial values ​​of roll angle, pitch angle, and yaw angle are all 0°;

[0074] (2) Maneuvering target attitude: roll angle 45°, pitch angle 10°, yaw angle 0°, that is, only roll angle and pitch angle are used for maneuvering.

[0075] (3) Maneuvering process: first, maneuver from the initial attitude to reach the target attitude; then, maneuver back to the initial attitude after the target attitude is stable for a period of time.

[0076] Carry out trajectory planning according to the trajectory planning method of the present invention, and output the planning quaternion function q r (t) and planning target angular velocity function ω r (t) to the external attitude control system to realize that the star completes ...

Embodiment 2

[0081] A sun-synchronous orbit satellite with an orbital altitude of 700km, an orbital inclination of 98°, and a maximum angular velocity of a star maneuver of 2° / s.

[0082] The satellite performs a three-axis maneuver in which:

[0083] (1) Initial attitude: the initial values ​​of roll angle, pitch angle, and yaw angle are all 0°;

[0084] (2) Maneuvering target attitude: roll angle 45°, pitch angle 10°, yaw angle 10°.

[0085] (3) Maneuvering process: first, maneuver from the initial attitude to reach the target attitude; then, maneuver back to the initial attitude after the target attitude is stable for a period of time.

[0086] Carry out trajectory planning according to the trajectory planning method of the present invention, and output the planning quaternion function q r (t) and planning target angular velocity function ω r (t) to the external attitude control system to realize that the star completes attitude maneuvering along the trajectory planned by the present...

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Abstract

The invention relates to a trajectory planning method for attitude maneuver. The method includes the steps that first, a characteristic main axis and an Euler angle are determined; second, trajectory planning is performed on the Euler angle so that a planning angular speed function and a planning angle function in the direction of the characteristic main axis can be obtained; third, a planning quaternion function and a planning target angular speed function in the process of the attitude maneuver process are calculated; fourth, the planning quaternion function and the planning target angular speed function are output to an external control system. The method is applicable to a single-axis or double-axis or three-axis maneuver condition, a maneuver trajectory with the shortest path can be obtained, multiple axes can be in place in a maneuver mode at the same time, and the fast maneuver requirement is met.

Description

technical field [0001] The invention relates to the field of attitude maneuvering, in particular to a trajectory planning method for attitude maneuvering. Background technique [0002] Domestic satellite single-axis attitude maneuvering technology is relatively mature, and there are inventions that provide single-axis attitude maneuvering bang-bang trajectory planning method and sinusoidal trajectory planning method. But there is no relevant trajectory planning method for multi-axis attitude maneuvers. [0003] If the single-axis attitude maneuvering technology is still used to achieve multi-axis attitude maneuvering, on the one hand, the attitude maneuvering trajectory is not the shortest path; It will directly affect the attitude maneuver time and reduce the rapidity of attitude maneuver. [0004] At the same time, traditional single-axis maneuvers use angles for attitude description. For multi-axis and large-angle attitude maneuvers, it is difficult to select the sequen...

Claims

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Application Information

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IPC IPC(8): G05D1/08
Inventor 王淑一魏春岭雷拥军宗红董筠李明群童雷
Owner BEIJING INST OF CONTROL ENG
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