翻滚目标逼近的虚拟域逆动力学轨迹规划

Trajectory planning based on inverse dynamics in virtual domain for approaching tumbling target

中文关键词  翻滚目标  相对动力学  逆动力学  轨迹规划

英文关键词  target  relative dynamics  inverse dynamic  trajectory planning

中文摘要

      针对追踪星自主逼近和跟踪翻滚目标特定部位的最优规划问题, 提出了一种基于虚拟域逆动力学的多约束最 优逼近轨迹规划方法.首先, 在翻滚目标本体系下建立追踪星相对于翻滚目标特定部位的相对轨道动力学方程, 并建立 追踪星本体系相对于翻滚目标期望固连坐标系的相对姿态动力学方程; 其次, 考虑目标星外形、敏感器视场和执行机构 控制能力等约束条件, 建立时间/能量最优规划模型; 然后, 采用序列二次规划(sequential quadratic programming, SQP)方法求解时间/能量最优规划问题; 最后, 数值仿真验证了该方法在满足多约束条件下, 可实现对翻滚目标自主逼 近与跟踪的最优轨迹规划, 同时与高斯伪谱法进行了对比, 验证了本方法在计算效率方面的优势.

英文摘要

      In order to solve the optimal trajectory planning for approaching and tracking the specific position of the tumbling target , a multi-constrained optimal trajectory planning method based on inverse dynamics in the virtual domain (IDVD) is proposed. Firstly, the relative orbital dynamics equation of the chaser relative to the specific position of the target is established in the target body coordinate system and the relative attitude kinetics equation of the chaser relative to the desired attached-target coordinate system is also established. Secondly, the time/energy optimal programming model is established based on the inverse dynamic method considering the constraints of target shape, actuator size and sensor field; Then, the sequential quadratic programming (SQP) method is used to solve the planning problem. Lastly, the numerical simulations show that the chaser can arrive the expected states under the multi-constraint condition and verify the advantages in terms of computational efficiency compared with the Gauss pseudospectral (PS) method.