Superposed hybrid sine maneuvering path planning method

A path planning and maneuvering technology, applied in the field of control, can solve the problems of long tracking control adjustment time, poor attitude stability index, time delay, etc.

Active Publication Date: 2017-12-26
BEIJING INST OF CONTROL ENG
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Problems solved by technology

For ultra-agile satellites, if the initial acceleration is too large, the impact on the zero-crossing dynamic performance of the actuator will be prominent, and there will be obvious time delays, resulting in a la...

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  • Superposed hybrid sine maneuvering path planning method
  • Superposed hybrid sine maneuvering path planning method
  • Superposed hybrid sine maneuvering path planning method

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Embodiment Construction

[0077] When the satellite maneuvers agilely, due to the large maneuvering angle and short maneuvering time, the satellite attitude angular acceleration is required to accelerate and decelerate rapidly. However, in actual engineering, the dynamic performance of the control moment gyro is limited, especially when the dynamic tracking performance is poor when crossing zero, it cannot immediately track the fast acceleration curve. In order to adapt to the dynamic characteristics of the control moment gyroscope, this patent proposes a maneuvering strategy in which the control moment gyroscope accelerates (decelerates) slowly in the zero-crossing segment with poor tracking performance, and accelerates (decelerates) quickly with the maximum output capability in the segment with excellent tracking performance. Considering the stable requirements of attitude maneuvers, a symmetrical acceleration and deceleration process is designed to ensure that the attitude angular velocity is zero at...

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Abstract

A superposed hybrid sine maneuvering path planning method is disclosed. According to a rapid satellite maneuvering task demand, zero-crossing duration and a maximum dynamic response frequency after zero crossing of an execution mechanism are taken as constraints so as to design multi-section superimposed designed maneuvering-path angular acceleration curves generated because of a continuously-changed accelerated speed. Under the conditions that an angular acceleration is increased from zero and then reduced to zero, and the flexibility of the angular acceleration is guaranteed, influences of flexible attachments on satellite stability are reduced. Characteristics that dynamic performance of the execution mechanism during a zero-crossing process is insufficient and a dynamic response bandwidth has a constraint after zero crossing are full considered, an excessive on-orbit maneuvering angle deviation brought by a zero-crossing characteristic of the execution mechanism and the response bandwidth constraint is avoided and maneuvering control adjusting time after maneuvering is enough is shortened.

Description

technical field [0001] The invention belongs to the field of control, and relates to a segmented planning method for a maneuvering path of a spacecraft. Background technique [0002] Ultra-agile spacecraft presents a high level of research on the stability of the spacecraft after it maneuvers quickly into place. For a spacecraft with flexible appendages, the vibration of the flexible appendages after maneuvering into place is the main factor affecting the attitude stability of the spacecraft. The maneuvering path planning is an effective way to solve the vibration of the flexible attachment during the maneuvering process. For ultra-agile maneuvering, due to the large maneuvering angle and short maneuvering time, rapid acceleration and rapid deceleration are required, but the dynamic performance of the control torque gyro is limited, especially when the dynamic tracking performance is poor at zero crossing, it cannot track the fast acceleration curve. [0003] In the past, ...

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0808
Inventor 谈树萍田科丰关新
Owner BEIJING INST OF CONTROL ENG
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