Slip-ring-free double-axis SADA motion trail improvement method and device based on multi-point planning

Abstract

The invention discloses a slip-ring-free double-axis SADA motion track improvement method and device based on multi-point planning. Planning points are selected based on SADA motion state division; calculating planning track motion parameters based on the planning points; and outputting a planned angle, an angular velocity and an angular acceleration according to the calculated planned trajectory motion parameters. According to the method, the angle, the angular velocity and the angular acceleration of the SADA motion planning trajectory can be accurately calculated, accurate trajectory input is provided for SADA planning motion, planning points are simply selected, the planning efficiency is improved, and the problem of discontinuous SADA planning motion is effectively solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aerospace technology, in particular to a multi-point planning based non-slip ring double-shaft SADA motion trajectory improvement method and device. BACKGROUND

[0002] The existing engineering uses a segmented motion trajectory planning for double-shaft non-slip ring SADA planning motion, which has the problem of discontinuity of the angle, angular velocity and angular acceleration at the connection points between planning segments, which brings great difficulty to the smoothness of the SADA motion trajectory. SUMMARY

[0003] In view of the above problems, the present application provides a multi-point planning based non-slip ring double-shaft SADA motion trajectory improvement method and device, which aims to effectively solve the discontinuity problem of SADA planning motion.

[0004] According to a first aspect of the embodiments of the present application, a multi-point planning based non-slip ring double-shaft SADA motion trajectory improvement method is provided, which comprises the following steps: selecting a planning point based on the motion state division of SADA; calculating planning trajectory motion parameters based on the planning point; According to the planning trajectory motion parameters obtained by calculation, the planning angle, angular velocity and angular acceleration are output.

[0005] A further technical solution of the present application is that, based on the motion state division of SADA, the starting point of the planning period is M point, the ending point is Q point, and there are N and P two intermediate points in the middle, the trajectory is planned in multiple segments, a quartic polynomial is used to plan the trajectory between M point and N point, a cubic polynomial is used to plan the trajectory between N and P two intermediate points, and finally a quartic polynomial is used to plan the trajectory between P point and the ending point Q.

[0006] A further technical solution of the present application is that, based on the planning point, the planning trajectory motion parameters are calculated, and the specific expression is: , , , Among them, 、 、 are the planning angle calculation expressions of MN, NP and PQ segments respectively, and the corresponding planning time lengths are 、 、 , 、 、 are the corresponding planning time points, , , , let ; ; ; , , the planning trajectory motion coefficient to be solved; based on known starting motion parameters, end motion parameters and motion rules of intermediate points, the planning trajectory motion coefficient is obtained by solving the planning angle calculation expression , , .

[0007] Further technical solutions of the application are: the planning trajectory motion coefficient is obtained by solving the planning angle calculation expression , , , specifically comprising: from the planning 0 moment, the initial angle is , (1) from the planning 0 moment, the initial angular velocity is , (2) from the planning 0 moment, the initial angular velocity is , (3) from the N point angle the end angle of MN section is the same, so (4) from the angle of N point the initial angle of NP section at 0 moment is the same, so (5) from the angular velocity of N point keeps continuous, so (6) from the angular acceleration of N point keeps continuous, so (7) from the angle of P point the end angle of NP section is the same, so (8) from the angle of P point and the initial angle of PQ section is the same, so (9) The P point angular velocity is kept continuous, so that (10)The P point angular acceleration is kept continuous, so that (11)The Q point angle is known Therefore, there is (12)The Q point angular velocity is known Therefore, there is (13)The Q point angular acceleration is known , (14)From formulas (1) to (14), the following matrix form can be written: (15)Formula (15) can be expressed as (16)From formula (16), we have (17) Through (17), the coefficients can be calculated: , , , .

[0008] According to a second aspect of the embodiments of the present disclosure, a multi-point planning based non-slip ring double-shaft SADA motion trajectory improvement device is provided, which comprises: A planning point selection module is configured to select a planning point based on the motion state of the SADA; A planning trajectory motion parameter calculation module is configured to calculate planning trajectory motion parameters based on the planning point; A planning trajectory motion output module is configured to output the planned angle, angular velocity, and angular acceleration according to the calculated planning trajectory motion parameters.

[0009] Further technical solutions of the present application are as follows: based on the motion state division of the SADA, the starting point of the planning period is the M point, the ending point is the Q point, and there are two intermediate points N and P in the middle. The trajectory is planned in multiple segments. First, a quartic polynomial is used to plan the trajectory between the M point and the N point. Then, a cubic polynomial is used to plan the trajectory between the two intermediate points N and P. Finally, a quartic polynomial is used to plan the trajectory between the P point and the ending point Q.

[0010] The method and device for improving the motion trajectory of a non-slip ring double-shaft SADA based on multi-point planning provided by the embodiments of the present disclosure can accurately calculate the angle, angular velocity and angular acceleration of the SADA motion planning trajectory, provide accurate trajectory input for SADA planning motion, and improve the planning efficiency by simplifying the selection of planning points, thereby effectively solving the discontinuity problem of SADA planning motion.

[0011] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0012] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0013] Figure 1 is a flowchart of the method for improving the motion trajectory of a non-slip ring double-shaft SADA based on multi-point planning in the embodiments of the present disclosure; Figure 2 is a schematic diagram of multi-point planning trajectory division in the embodiments of the present disclosure; Figure 3 is a structural diagram of the device for improving the motion trajectory of a non-slip ring double-shaft SADA based on multi-point planning in the embodiments of the present disclosure; Figure 4 is an A-axis planning angle curve in the embodiments of the present disclosure; Figure 5 is an A-axis expected approximate angle minus planning angle error in the embodiments of the present disclosure; Figure 6 is an A-axis planning angular velocity curve in the embodiments of the present disclosure; Figure 7 is an A-axis planning angular acceleration curve in the embodiments of the present disclosure; Figure 8 is a B-axis planning angle curve in the embodiments of the present disclosure; Figure 9 is a B-axis expected approximate angle minus planning angle error in the embodiments of the present disclosure; Figure 10 is a B-axis planning angular velocity curve in the embodiments of the present disclosure; Figure 11 is a B-axis planning angular acceleration curve in the embodiments of the present disclosure. DETAILED DESCRIPTION

[0014] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present invention are shown in the drawings, not the entire structure.

[0015] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the steps as sequential processes, many of these steps can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the steps can be rearranged. The process can be terminated when its operation is complete, but may also have additional steps not included in the figures. The process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0016] This invention aims to achieve solar array tracking under dual-axis slip-ring-free SADA planning motion, and utilizes a multi-point planning method to improve the motion trajectory of slip-ring-free dual-axis SADA, which can be applied to the field of satellite dual-axis slip-ring-free SADA motion planning and control.

[0017] The following embodiments are provided for a proposed method and device for improving the motion trajectory of a slip-ring-free biaxial SADA system based on multi-point planning: like Figure 1 As shown, a method for improving the motion trajectory of a slip-ring-free dual-axis SADA system based on multi-point planning includes the following steps: S1. Select planning points based on motion state division of SADA; S2. Calculate the motion parameters of the planned trajectory based on the planning points; S3. Based on the calculated motion parameters of the planned trajectory, output the planned angle, angular velocity, and angular acceleration.

[0018] In the specific implementation process, such as Figure 2 As shown, the trajectory planning within the complete orbital cycle starts from point M, and sequentially enters tracking motion segment 1: MN segment, with a planning duration of tf1; turning motion segment 1: NP segment, with a planning duration of tf2; tracking motion segment 2: PQ segment, with a planning duration of tf3; tracking motion segment 3: M*N* segment, with a planning duration of tf1; turning motion segment 2: N*P* segment, with a planning duration of tf2; and tracking motion segment 4: P*Q* segment, with a planning duration of tf3. The selection criteria for point P are: , , when When, select this point as point P, where This represents the solar vector in the orbital frame. For the representation of his solar vector in an inertial frame, To set a conditional angle threshold, This represents the attitude quaternion of the orbital coordinate system relative to the inertial coordinate system.

[0019] Based on the motion state division of SADA, let the starting point of the planning cycle be point M, the ending point be point Q, and there are two intermediate points N and P in between. The trajectory is planned in multiple segments, and a 4-3-4 trajectory can be adopted. First, a fourth-order polynomial is used to plan the trajectory between point M and point N. Then, a cubic polynomial is used to plan the trajectory between the two intermediate points N and P. Finally, a fourth-order polynomial is used to plan the trajectory between point P and the ending point Q.

[0020] The motion parameters of the planned trajectory are calculated based on the planning points, and the specific expression is as follows: , , , (1) in, , , Here are the calculation expressions for the planning angles of segments MN, NP, and PQ, respectively, and their corresponding planning durations are respectively... , , , , , For the corresponding planning time, , , ,make ; ; ; , , The motion coefficients of the planned trajectory that need to be solved; Based on the known motion parameters of the starting point, the ending point, and the motion rules of the intermediate points, the motion coefficients of the planned trajectory are obtained by solving the planning angle calculation expression. , , .

[0021] , , The unknown coefficient matrix that needs to be solved can be solved using the following conditions: 1) Given the initial angle of point M ; 2) Given the initial angular velocity of point M ; 3) Given the initial angular acceleration at point M ; 4) Given the angle at point N , and it is also the end position of the MN segment of the fourth-degree polynomial; 5) The initial angles of point N and segment NP are the same to ensure the continuity of motion; 6) The angular velocity at point N remains continuous; 7) The angular acceleration at point N remains continuous; 8) Given the angle of point P The angle is the same as the end angle of segment NP; 9) The angle at point P is the same as the initial angle of segment PQ; 10) The angular velocity at point P remains continuous; 11) The angular acceleration at point P remains continuous; 12) Given the angle of the endpoint Q. ; 13) Given the final angular velocity Q ; 14) Given the angular acceleration at the endpoint Q ; The following is the process of solving for the unknown coefficients: 1) From the planning at time 0, the initial angle is ,but (2) 2) From the planning at time 0, the initial angular velocity is: ,but (3) 3) From the planning at time 0, the initial angular velocity is: ,but (4) 4) Angle from point N If the angle at the end of segment MN is the same, then (5) 5) Angle from point N The initial angle is the same as that at time 0 of segment NP, thus we have (6) 6) Since the angular velocity at point N remains continuous, therefore we have (7) 7) Since the angular acceleration at point N remains continuous, therefore we have (8) 8) Angle from point P The angle at the end of segment NP is the same, therefore we have (9) 9) Since the angle at point P is the same as the initial angle of segment PQ, therefore we have (10) 10) Since the angular velocity at point P remains continuous, therefore... (11) 11) Since the angular acceleration at point P remains continuous, therefore... (12) 12) Given that the angle of point Q is... Therefore, there is (13) 13) Given that the angular velocity of point Q is... Therefore, there is (14) 14) Given that the angular acceleration at point Q is... , (15) Equations (2) to (15) can be written in the following matrix form: (16) Equation (16) can be expressed as (17) From equation (17), we can obtain (18) The coefficient can be calculated using (18): , , .

[0022] Another embodiment illustrates a slip-ring-free dual-axis SADA motion trajectory improvement device based on multi-point planning, such as... Figure 3 As shown, the device 300 includes: The planning point selection module 310 is used to select planning points based on the motion state division of SADA. The planned trajectory motion parameter calculation module 320 is used to calculate the planned trajectory motion parameters based on the planning points. The planned trajectory motion output module 330 is used to output the planned angle, angular velocity, and angular acceleration based on the calculated planned trajectory motion parameters.

[0023] The device 300 divides the motion state based on SADA, making the starting point of the planning cycle point M, the ending point Q, and two intermediate points N and P in between. The trajectory planning is divided into multiple segments. First, a quartic polynomial is used to plan the trajectory between point M and point N. Then, a cubic polynomial is used to plan the trajectory between the two intermediate points N and P. Finally, a quartic polynomial is used to plan the trajectory between point P and the ending point Q.

[0024] In addition to the modules described above, the device 300 may also include other components; however, since these components are not relevant to the embodiments of this disclosure, their illustrations and descriptions are omitted here.

[0025] The other specific working processes of the slip-ring-free biaxial SADA motion trajectory improvement device 300 based on multi-point planning are described in the above-described embodiment of the slip-ring-free biaxial SADA motion trajectory improvement method based on multi-point planning, and will not be repeated here.

[0026] To verify the effectiveness of the method and apparatus of this invention, a simulation example is used to illustrate the beneficial effects of the invention. The angle, angular velocity, and angular acceleration curves along axes A and B show that the angle, angular velocity, and angular acceleration are all smooth throughout the entire orbital cycle. Furthermore, the angular velocity and angular acceleration are zero at the beginning and end of the planned cycle, exhibiting a regular periodic motion. The algorithm's implementation logic and computational complexity are simple, facilitating engineering implementation. Table 1 in the verification example shows the simulation conditions for the planned cycle.

[0027] Table 1

[0028] like Figure 4 The figure shows the angle curve for the A-axis planning. Figure 5 The approximate angle of axis A is the difference between the planned angle error and the expected angle. Figure 6 Plan the angular velocity curve for axis A. Figure 7 Plan the angular acceleration curve for axis A. Figure 8 Plan the angle curve for the B-axis. Figure 9 The approximate angle of the B-axis is the expected angle minus the planning angle error. Figure 10 Plan the angular velocity curve for the B-axis. Figure 11 An angular acceleration curve is planned for the B-axis. These curves show that the transition from the tracking motion segment to the turning motion segment, or vice versa, is continuous and smooth, demonstrating the effectiveness of the method and apparatus of this invention.

[0029] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a step or method that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such a step or method.

[0030] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A method for improving the motion trajectory of a slip-ring-free biaxial SADA system based on multi-point programming, characterized in that, Includes the following steps: Selecting planning points based on motion state division in SADA; Calculate the motion parameters of the planned trajectory based on the planning points; Based on the calculated motion parameters of the planned trajectory, the planned angle, angular velocity, and angular acceleration are output.

2. The improved method for slip-ring-free biaxial SADA motion trajectory based on multi-point planning according to claim 1, characterized in that, Based on the motion state division of SADA, the starting point of the planning cycle is point M, the ending point is point Q, and there are two intermediate points N and P in between. The trajectory planning is carried out in multiple segments. First, a quartic polynomial is used to plan the trajectory between point M and point N. Then, a cubic polynomial is used to plan the trajectory between the two intermediate points N and P. Finally, a quartic polynomial is used to plan the trajectory between point P and the ending point Q.

3. The improved motion trajectory method for slip-ring-free biaxial SADA based on multi-point planning according to claim 2, characterized in that, The motion parameters of the planned trajectory are calculated based on the planning points, and the specific expression is as follows: , , , in, , , Here are the calculation expressions for the planning angles of segments MN, NP, and PQ, respectively, and their corresponding planning durations are respectively... , , , , , For the corresponding planning time, , , ,make ； ； ； , , The motion coefficients of the planned trajectory that need to be solved; Based on the known motion parameters of the starting point, the ending point, and the motion rules of the intermediate points, the motion coefficients of the planned trajectory are obtained by solving the planning angle calculation expression. , , .

4. The improved motion trajectory method for slip-ring-free biaxial SADA based on multi-point planning according to claim 3, characterized in that, The motion coefficients of the planned trajectory are obtained by solving the expression for the planning angle. , , Specifically, it includes: From the planning at time 0, the initial angle is ,but （1） From the planning at time 0, the initial angular velocity is ,but （2） From the planning at time 0, the initial angular velocity is ,but （3） From N points angle If the angle at the end of segment MN is the same, then （4） Angle from point N The initial angle is the same as that at time 0 of segment NP, thus we have （5） Since the angular velocity at point N remains continuous, therefore we have （6） Since the angular acceleration at point N remains continuous, therefore we have （7） Angle from point P The angle at the end of segment NP is the same, therefore we have （8） Since the angle at point P is the same as the initial angle of segment PQ, therefore we have （9） Since the angular velocity at point P remains continuous, we have （10） Since the angular acceleration at point P remains continuous, we have （11） Given that the angle of point Q is Therefore, there is （12） Given that the angular velocity of point Q is Therefore, there is （13) Given the angular acceleration at point Q is , （14） Equations (1) to (14) can be written in the following matrix form: （15） Equation (15) can be expressed as （16） From equation (16), we can obtain （17） The coefficient can be calculated using (17): , , .

5. A slip-ring-free dual-axis SADA motion trajectory improvement device based on multi-point programming, characterized in that, The device includes: The planning point selection module is used to select planning points based on the motion state division of SADA. The planning trajectory motion parameter calculation module is used to calculate the planning trajectory motion parameters based on the planning points; The planned trajectory motion output module is used to output the planned angle, angular velocity, and angular acceleration based on the calculated planned trajectory motion parameters.

6. The slip-ring-free dual-axis SADA motion trajectory improvement device based on multi-point planning according to claim 5, characterized in that, The device is based on the motion state division of SADA, with the starting point of the planning cycle being point M, the ending point being point Q, and two intermediate points N and P in between. The trajectory is planned in multiple segments. First, a quartic polynomial is used to plan the trajectory between point M and point N. Then, a cubic polynomial is used to plan the trajectory between the two intermediate points N and P. Finally, a quartic polynomial is used to plan the trajectory between point P and the ending point Q.

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