Trajectory Generation Device for Optical Space Communication

Solution Overview

Problem

Conventional trajectory generation devices experience discontinuity and prolonged time to reach target angles or angular velocities when trajectory changes occur during optical space communication between mobile objects, leading to inadvertent vibrations in control targets.

Innovation Solution

A trajectory generation device, method, and program that regenerates the trajectory based on the output angular velocity and current angle at the point of change, using specific formulas to maintain continuous angular velocity and avoid discontinuity, allowing for accurate and rapid target angle attainment.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the trajectory is regenerated from the initial state when a target angle or angular velocity change occurs, then the trajectory can be reset to a known state, but the angular velocity becomes discontinuous and the time to reach the target angle increases

Engineering Contradiction:

Improvetrajectory continuityVSAvoidtime to reach target angle

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The patent stores the output angular velocity at the moment of trajectory change as a reference value before regeneration. This preliminary preservation of state information allows the regenerated trajectory to continue from the stored angular velocity rather than resetting to zero, thereby maintaining continuity and reducing the time to reach the target angle.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

By using the stored output angular velocity as the initial condition for trajectory regeneration, the patent ensures continuous angular velocity output without interruption or discontinuity. This maintains the useful action of angular velocity generation continuously across trajectory changes, preventing time loss and maintaining system performance.

Inventive Principle:

Principle #20Continuity of useful action

2Reliability

If the trajectory is regenerated from the initial state when a target angle or angular velocity change occurs, then the trajectory can be reset to a known state, but inadvertent vibrations are excited in the control target

Engineering Contradiction:

Improvetrajectory smoothnessVSAvoidinadvertent vibrations

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The patent stores the output angular velocity at the moment of trajectory change as a reference value before regeneration. This preliminary preservation of state information allows the regenerated trajectory to continue from the stored angular velocity rather than resetting to zero, thereby maintaining continuity and reducing the time to reach the target angle.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

By using the stored output angular velocity as the initial condition for trajectory regeneration, the patent ensures continuous angular velocity output without interruption or discontinuity. This maintains the useful action of angular velocity generation continuously across trajectory changes, preventing time loss and maintaining system performance.

Inventive Principle:

Principle #20Continuity of useful action

3Productivity

If the output angular velocity is maintained during trajectory regeneration, then discontinuity is avoided and time loss is reduced, but the trajectory regeneration becomes more complex

Engineering Contradiction:

Improvetrajectory regeneration speedVSAvoidtrajectory regeneration complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The trajectory generation device uses its own previously generated output angular velocity as the initial condition for regeneration. This self-service approach allows the system to maintain continuity without requiring external reference signals or complex coordination with other systems, achieving fast regeneration with moderate complexity by leveraging its own historical data.

Inventive Principle:

Principle #25Self-service

Data Source

PatentEP2879013B1Trajectory generation device, trajectory generation method, and storage medium having trajectory generation program stored therein

Publication Date: 2017.03.01 NEC CORP

AI summary

A trajectory generation device comprising at least: a control target (1), an angle detector (2) that outputs the current angle of the control target (1), a command generator (5) that sets the target angle and the target angular velocity; and a trajectory generator (6) that generates trajectories from the current angle, the target angle, and the target angular velocity. If a change, from a current target angle or target angular velocity to a new target angle or a new target angular velocity, occurs in the command generator (5), a changed trajectory is regenerated by the trajectory generator (6) on the basis of the angle up to the new target angle or the angular velocity up to the new target angular velocity, on the basis of an output angular velocity generated by the trajectory generator (6) at the point the change is generated and on the basis of a current angle for the control target (1) as detected by the angle detector (2) at the time the change occurred or an output angle generated by the trajectory generator (6).