CN110162073A - A kind of segmentation sine attitude maneuver method for planning track adapting to boundary constraint - Google Patents
A kind of segmentation sine attitude maneuver method for planning track adapting to boundary constraint Download PDFInfo
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Abstract
A kind of segmentation sine attitude maneuver method for planning track adapting to boundary constraint, wherein satellite trajectory planning in posture can originate by any attitude angle, angular speed and angular acceleration, plan to specified attitude angle, angular speed and angular acceleration and attitude parameter whole process it is controlled.The method of the present invention is that a kind of sinusoidal attitude maneuver method for planning track of segmentation of adaptation boundary constraint both ensure that the efficient motor-driven slickness in turn ensuring planned trajectory of the attitude of satellite, optimizes the stable time.The present invention ensure that the whole process of motor-driven stage angular velocity and angular acceleration is controlled by calculate in real time to track in the real-time control stage, to effectively improve the accuracy and reliability of control.The present invention is especially suitable for the motor-driven trajectory planning overall processes of satellite task planning and real-time attitude control.
Description
Technical field
The invention belongs to Spacecraft Attitude Control fields, are related to control when a kind of spacecraft progress arbitrary trajectory attitude maneuver
Method processed.
Background technique
The continuous development of Spacecraft Control technology is especially boat in application scenarios such as mission planning, real-time attitude controls
Its device trajectory planning ability is put forward new requirements, and not only meets the dynamic tracking capabilities of fast and stable, and require to motor-driven
The controllability of time and mobile process.Specific requirements are as follows: under the premise of guaranteeing efficient mobility, in entire trajectory planning mistake
Size-controlled, and clear attitude maneuver time of Cheng Zhong, angular speed and angular acceleration.Traditional Attitude Tracking method planning exists
The size of angular speed and angular acceleration in planning process is uncontrolled and given operating condition attitude maneuver time is difficult to determine.
Therefore traditional Satellite Tracking attitude maneuver method has been not suitable for, and needs to find for this dynamically track operating condition
New solution.
Summary of the invention
Technical problem solved by the present invention is overcoming the limitation of existing Satellite Tracking attitude maneuver control method, provide
A kind of segmentation sine attitude maneuver method for planning track adapting to boundary constraint, being capable of efficiently progress motor-driven to the attitude of satellite
The sinusoidal satellite trajectory planning of the controllable segmentation of attitude parameter overall process.
The technical solution of the invention is as follows: a kind of segmentation sine attitude maneuver trajectory planning side adapting to boundary constraint
Method comprises the following steps that
(1) the maximum angular rate v of satellite is setmaxWith maximum angular acceleration amax；
(2) according to the attitude angle r of the motor-driven initial time of the attitude of satellite0, attitude angular velocity v0, angular acceleration a0, at the end of
The attitude angle r at quarter1, attitude angular velocity v1, angular acceleration a1,
It calculates accelerating sections and plans phase:
Calculate accelerating sections sinusoidal trajectory half period plan frequency:
It calculates accelerating sections and plans duration:
At the end of calculating accelerating sections, the attitude maneuver of satellite plans angle:
It calculates braking section and plans phase:
Calculate braking section sinusoidal trajectory half period plan frequency:
It calculates braking section and plans duration:
At the end of calculating braking section, the attitude maneuver of satellite plans angle:
(3) work as r1> Θ0+Θ1When, at the end of calculating at the uniform velocity section, the attitude maneuver of satellite plans angle: Θ2=r1-Θ0-
Θ1；
At the uniform velocity section plans duration:
The motor-driven planning total duration of the attitude of satellite: Tmc=Tm0+Tm1+Tm2；
Introduce the motor-driven planning total duration T of the attitude of satellite of planning allowancemd=Tmc+δt,
Wherein, δ t is planning allowance；Enter step (4)；
(4) in the real-time control stage, the parameter initialization of posture real-time control is carried out according to program results first.
Calculate satellite maximum angular rate motor-driven in real time:
Wherein, for convenience of calculating, each intermediate quantity m is set1、m2、k1、k2、x1~x4It is as follows:
m1=k1v0+k2v1,
m2=k1+k2,
x1=amax+amaxcos(θp0),
x2=π-θp0,
x3=amax+amaxcos(θp1),
x4=π-θp1；
Calculate accelerating sections sinusoidal trajectory half period real-time frequency:
The real-time duration of accelerating sections:
At the end of accelerating sections, the attitude maneuver real-time angular of satellite:
Calculate braking section sinusoidal trajectory half period real-time frequency:
The real-time duration of braking section:
At the end of braking section, the attitude maneuver real-time angular of satellite:
The at the uniform velocity attitude maneuver real-time angular of section satellite:
Θ2'=r1-Θ0’-Θ1',
The at the uniform velocity real-time duration of section
(5) in real-time control, satellite is calculated in the real-time angular acceleration a of accelerating sectionsa, angular speed va, angle, θa:
aa=amaxsin(f0’t+θp0'),
Wherein, time t≤Tm0'；
Real-time angular acceleration a of the satellite at the uniform velocity sectionb, angular speed vb, angle, θb:
ab=0,
Real-time angular acceleration a of the satellite in braking sectionc, angular speed vc, angle, θc:
Braking section duration tc=Tmd- t,
ac=-amaxsin(f1’t+θp1'),
(6) control satellite carries out attitude maneuver along the path that step (5) obtains.
The advantages of the present invention over the prior art are that:
In method of the invention, the rapid attitude maneuver path planning of satellite is suitable for mission planning, real-time attitude controls
Deng the scene for having high request to controllable velocity and to the trajectory planning state modulator whole process supervision of satellite.And traditional Satellite Attitude
The attitude maneuver time under the size of angular speed and angular acceleration in the motor-driven method planning process of state is uncontrolled and given operating condition
Hardly possible determines.In solution procedure, first in the planning stage, the time kept in reserve of planning is accurately calculated, specifies the total of mobile process
Time.On the basis of the real-time control stage, the initialization calculating for completing track, angle, the angle speed of trajectory planning are calculated in real time
Degree and angular acceleration.Using the method for planning track sinusoidal based on segmentation, the advantage for making full use of sinusoidal trajectory to plan improves appearance
State motor-driven speed and stability, and segmentation thought is introduced, improve maneuver effectiveness.
Detailed description of the invention
Fig. 1 is the flow diagram of the method for the present invention；
Fig. 2 is typical acceleration trajectory；
Fig. 3 is typical rate track；
Fig. 4 is typical attitude angle track；
Specific embodiment
Current quick satellite maneuver model is increasingly sophisticated, on the basis of meeting the dynamic tracking capabilities of fast and stable,
In quick application scenarios such as mission planning, posture real-time controls, also require satellite to during trajectory planning parameter it is whole by
Control.Therefore, it is necessary to a kind of efficient satellite trajectory planing method and guarantee the controllable of the motor-driven parameter of overall process.Currently, proposing
A kind of segmentation sine attitude maneuver method for planning track adapting to boundary constraint, had both made satellite complete the mobility of fast and stable
The control efficiency of trajectory planning can be improved, while also meeting the controlled of in trajectory planning overall process parameter.
As shown in Figure 1, being the flow chart of the method for the present invention.
In the present invention, the attitude angle r of the motor-driven initial time of the attitude of satellite0, attitude angular velocity v0, angular acceleration a0, terminate
The attitude angle r at moment1, attitude angular velocity v1, angular acceleration a1.Maneuverability, that is, maximum angular rate of the setting satellite of satellite
vmaxWith maximum angular acceleration amax.In the planning stage, counted respectively according to accelerating sections phase, sinusoidal trajectory half period frequency etc. first
The time kept in reserve of accelerating sections, braking section and at the uniform velocity section is calculated, obtains the time kept in reserve after reference time nargin.In real-time control rank
Section carries out initialization calculating with curve of the one side to planning, on the other hand calculates angular speed, the angular acceleration etc. of satellite in real time
Parameter.
A kind of segmentation sine attitude maneuver method for planning track adapting to boundary constraint, specific steps are as follows:
(1) the maximum angular rate v of satellite is setmaxWith maximum angular acceleration amax, using the maneuverability of satellite as rule
Constraint is drawn, guarantees the enforceability of program results；
(2) mobile process is divided into accelerating sections, braking section and at the uniform velocity section three parts first, calculates separately three mobile process
Projecting parameter.Specifically, according to the attitude angle r of the motor-driven initial time of the attitude of satellite0, attitude angular velocity v0, angular acceleration
a0, finish time attitude angle r1, attitude angular velocity v1, angular acceleration a1,
It calculates accelerating sections and plans phase:
Calculate accelerating sections sinusoidal trajectory half period plan frequency:
It calculates accelerating sections and plans duration:
At the end of calculating accelerating sections, the attitude maneuver of satellite plans angle:
It calculates braking section and plans phase:
Calculate braking section sinusoidal trajectory half period plan frequency:
It calculates braking section and plans duration:
At the end of calculating braking section, the attitude maneuver of satellite plans angle:
(3) if r1≤Θ0+Θ1When, this method is not applicable；This method is used mainly for large angle maneuver situation.
If r1> Θ0+Θ1When, at the end of calculating at the uniform velocity section, the attitude maneuver of satellite plans angle: Θ2=r1-Θ0-
Θ1；
At the uniform velocity section plans duration:
The motor-driven planning total duration of the attitude of satellite: Tmc=Tm0+Tm1+Tm2；
Introduce the motor-driven planning total duration of the attitude of satellite of planning allowance: Tmd=Tmc+δt,
Wherein, δ t is planning allowance；In motor-driven planning process, certain planning is allowed to calculate error, guarantees planning knot
The enforceability of fruit enters step (4) that is, without departing from the maneuverability range of satellite；
(4) in the real-time control stage, the parameter initialization of posture real-time control is carried out according to program results first,
Calculate satellite maximum angular rate motor-driven in real time:
Wherein, each intermediate quantity is as follows:
m1=k1v0+k2v1,
m2=k1+k2,
x1=amax+amaxcos(θp0),
x2=π-θp0,
x3=amax+amaxcos(θp1),
x4=π-θp1；
Calculate accelerating sections sinusoidal trajectory half period real-time frequency:
The real-time duration of accelerating sections:
At the end of accelerating sections, the attitude maneuver real-time angular of satellite:
Calculate braking section sinusoidal trajectory half period real-time frequency:
The real-time duration of braking section:
At the end of braking section, the attitude maneuver real-time angular of satellite:
The at the uniform velocity attitude maneuver real-time angular of section satellite:
Θ2'=r1-Θ0’-Θ1',
The at the uniform velocity real-time duration of section
(5) in real-time control, also according to the acceleration section of division, at the uniform velocity three mobile process of section and braking section and meter
Counted initiation parameter calculates the motor-driven parameter of satellite real-time control.Specifically, satellite is calculated at the real-time angle of accelerating sections
Acceleration aa, angular speed va, angle, θa:
aa=amaxsin(f0’t+θp0'),
Wherein, time t≤Tm0'；
Real-time angular acceleration a of the satellite at the uniform velocity sectionb, angular speed vb, angle, θb:
ab=0,
Real-time angular acceleration a of the satellite in braking sectionc, angular speed vc, angle, θc:
Braking section duration tc=Tmd- t,
ac=-amaxsin(f1’t+θp1'),
(6) control satellite carries out attitude maneuver along the path that step (5) obtains.
Embodiment
By taking certain complicated satellite axis of rolling attitude maneuver control as an example.If the velocity interval [- 2 °/s, 2 °/s] of endpoint, accelerate
Degree range: [- 0.05 °/s2, 0.05 °/s2], maximum angular rate vmax=3.5 °/s and maximum angular acceleration amax=2.0 °/s2。
1000 random simulations are carried out, wherein Fig. 2, Fig. 3, Fig. 4 are typical trajectory planning result.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (9)
1. a kind of segmentation sine attitude maneuver method for planning track for adapting to boundary constraint, which is characterized in that comprise the following steps that
(1) the maximum angular rate v of satellite is setmaxWith maximum angular acceleration amax；
(2) according to the attitude angle r of the motor-driven initial time of the attitude of satellite0, attitude angular velocity v0, angular acceleration a0, finish time
Attitude angle r1, attitude angular velocity v1, angular acceleration a1, calculate the motor-driven accelerating sections of the attitude of satellite and plan phase thetap0, accelerating sections it is sinusoidal
Track half period plan frequency f0, accelerating sections plan duration Tm0, the attitude maneuver of satellite plans angle Θ at the end of accelerating sections0,
It calculates the motor-driven braking section of the attitude of satellite and plans phase thetap1, braking section sinusoidal trajectory half period plan frequency f1, braking section planning when
Long Tm1, the attitude maneuver of satellite plans angle Θ at the end of braking section1；
(3) work as r1> Θ0+Θ1When, the attitude maneuver for calculating satellite at the uniform velocity at the end of section plans angle Θ2, at the uniform velocity section plan duration
Tm2, the motor-driven planning total duration T of the attitude of satellitemc, the motor-driven planning total duration T of the attitude of satellite of setting planning allowancemd；
(4) in the real-time control stage, the parameter initialization of posture real-time control is carried out according to program results, calculates the real-time machine of satellite
Dynamic maximum angular rate vmax1, calculate accelerating sections sinusoidal trajectory half period real-time frequency f0', the real-time duration T of accelerating sectionsm0', accelerate
The attitude maneuver real-time angular Θ of satellite at the end of section0', calculate braking section sinusoidal trajectory half period real-time frequency f1', braking section
Real-time duration Tm1', at the end of braking section satellite attitude maneuver real-time angular Θ1', the attitude maneuver for calculating at the uniform velocity section satellite is real
When angle Θ2', the at the uniform velocity real-time duration T of sectionm2'；
(5) in real-time control, satellite is calculated in the real-time angular acceleration a of accelerating sectionsa, angular speed va, angle, θa, satellite is even
The real-time angular acceleration a of fast sectionb, angular speed vb, angle, θb, real-time angular acceleration a of the satellite in braking sectionc, angular speed vc, angle
θc, braking section duration tc；
(6) control satellite carries out attitude maneuver along the path that step (5) obtains.
2. a kind of segmentation sine attitude maneuver method for planning track for adapting to boundary constraint according to claim 1, special
Sign is:
In step (2), accelerating sections plans phase
Accelerating sections sinusoidal trajectory half period plan frequency
Accelerating sections plans duration
The attitude maneuver of satellite plans angle at the end of accelerating sections
3. a kind of segmentation sine attitude maneuver method for planning track for adapting to boundary constraint according to claim 1 or 2,
It is characterized in that:
In step (2), braking section plans phase
Braking section sinusoidal trajectory half period plan frequency
Braking section plans duration
The attitude maneuver of satellite plans angle at the end of braking section
4. a kind of segmentation sine attitude maneuver method for planning track for adapting to boundary constraint according to claim 3, special
Sign is:
In step (3), the attitude maneuver of satellite plans angle Θ at the uniform velocity at the end of section2=r1-Θ0-Θ1；
At the uniform velocity section plans duration
The motor-driven planning total duration T of the attitude of satellitemc=Tm0+Tm1+Tm2；
Plan the motor-driven planning total duration T of the attitude of satellite of allowancemd=Tmc+ δ t,
Wherein, δ t is planning allowance.
5. a kind of segmentation sine attitude maneuver method for planning track for adapting to boundary constraint according to claim 3, special
Sign is:
In step (4), satellite maximum angular rate motor-driven in real time:
Wherein, each intermediate quantity m1、m2、k1、k2、x1~x4It is as follows:
m1=k1v0+k2v1
m2=k1+k2,
x1=amax+amaxcos(θp0),
x2=π-θp0,
x3=amax+amaxcos(θp1),
x4=π-θp1。
6. a kind of segmentation sine attitude maneuver method for planning track for adapting to boundary constraint according to claim 5, special
Sign is:
In step (4), accelerating sections sinusoidal trajectory half period real-time frequency
The real-time duration of accelerating sections
The attitude maneuver real-time angular of satellite at the end of accelerating sections
Braking section sinusoidal trajectory half period real-time frequency
The real-time duration of braking section
The attitude maneuver real-time angular of satellite at the end of braking section
The at the uniform velocity attitude maneuver real-time angular Θ of section satellite2'=r1-Θ0’-Θ1',
The at the uniform velocity real-time duration of section
7. a kind of segmentation sine attitude maneuver method for planning track for adapting to boundary constraint according to claim 1, special
Sign is:
In step (5), real-time angular acceleration a of the satellite in accelerating sectionsa, angular speed va, angle, θaCalculation formula it is as follows:
aa=amaxsin(f0’t+θp0'),
Wherein, time t≤Tm0’。
8. a kind of segmentation sine attitude maneuver method for planning track for adapting to boundary constraint according to claim 7, special
Sign is:
In step (5), real-time angular acceleration a of the satellite at the uniform velocity sectionb, angular speed vb, angle, θbCalculation formula it is as follows:
ab=0,
9. a kind of segmentation sine attitude maneuver method for planning track for adapting to boundary constraint according to claim 8, special
Sign is:
In step (5), real-time angular acceleration a of the satellite in braking sectionc, angular speed vc, angle, θc, braking section duration tcCalculating it is public
Formula is as follows:
tc=Tmd- t,
ac=-amaxsin(f1’t+θp1'),
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| CN112947529A (en) * | 2021-03-25 | 2021-06-11 | 航天科工空间工程发展有限公司 | Low-orbit communication satellite attitude maneuver path planning method for avoiding frequency interference |
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