On-line planning method for procedure quaternion of time-varying attitude adjusting target

Abstract

The invention discloses an on-line planning method for procedure quaternion of a time-varying attitude adjusting target, and belongs to the technical field of flight control system design. The on-line planning method is used for calculating rotation quaternion P (t) according to procedure quaternion of the initial attitude of attitude adjustment and the attitude of the time-varying attitude adjusting target at time t, calculating parameters alpha (t), E1 (t), E2 (t) and E3 (t) according to P (t), further calculating parameters alpha-bar (t), E1-bar (t), E2-bar (t) and E3-bar (t) according to the range of alpha (t), and calculating a parameter alpha-hat (t) according to total attitude adjusting time T and the parameter alpha (t), so as to obtain the on-line planned procedure quaternion at the time t. According to the condition that the attitude of the attitude adjusting target changes with time, the attitude adjusting range in the target attitude time-varying process can range from an angle smaller than 180 degrees to an angle larger than 180 degrees; the online planning method is an online planning method for procedure quaternion of attitude adjusting of an aircraft, and is high in universality, and easy to be implemented through software. The on-line planning method can ensure that the attitude adjusting space angle is the smallest, the attitude adjusting process is smooth and continuous, the implementation principle is clear, the method is simple and reliable, the algorithm is low in complexity, and the method can be implemented through software.

Description

technical field [0001] The invention relates to a program quaternion online programming method with a continuous time-varying attitude adjustment target, which belongs to the field of aircraft control system design. Background technique [0002] Due to the requirements of the flight mission, the aircraft often needs to adjust its own attitude to the desired target attitude, and often encounters that the desired target attitude is constantly changing with time, that is, the target attitude is still changing all the time during the attitude adjustment process. This requires real-time planning of a smooth attitude curve between the current attitude and the time-varying target attitude to achieve a smooth attitude adjustment of the aircraft. At present, the common attitude adjustment is mainly to use the three-channel program angle to carry out online planning respectively. The methods used include angular velocity linear attitude adjustment, angular velocity trapezoidal attitud...

AI Technical Summary

Problems solved by technology

For the attitude adjustment planning of the time-varying attitude adjustment target, the main problems faced are: (1) How to design the smooth and continuously changing attitude adjustment trajectory under the condition of time-varying attitude adjustment target attitude to meet the needs of engineering applications; (2) The entire attitude adjustment needs Ensure that the quaternion attitude adjustment space angle is a small angle, so as to save the fuel required for attitude adjustment control and reduce the time required for attitude adjustment; (3) to ensure the adaptability of large-scale time-varying attitude adjustment situations, it is necessary to meet the attitude adjustment target attitude. Change and change around 180 degrees

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