基于粒子群算法的航天器姿态运动规划  

Optimal Attitude Control of Motion Planning for Spacecraft Based on Particle Swarm Optimization

作　　者：杨莉莉[1] 孙全平[1] 孙鹏伟[2] 

机构地区：[1]淮阴工学院数字制造技术实验室,江苏淮安223003 [2]北京航空航天大学理学院,北京100083

出　　处：《淮阴工学院学报》2007年第3期52-56,共5页Journal of Huaiyin Institute of Technology

摘　　要：当将万向节的相对转动角速度作为航天器系统姿态运动规划的控制输入变量时,由于航天器系统的控制输入的数目少于系统的自由度数目,系统的姿态运动成为典型的欠驱动非完整系统的运动规划问题,其运动控制问题变得非常复杂。提出了一种应用粒子群算法优化系统姿态运动规划的数值算法。数值仿真结果表明了该方法的有效性。The optimal attitude control of motion planning for a system of underactuated coupled rigid bodies subject to a universal joint is discussed in this paper. Because the number of the control inputs are less than the number of degree of freedom, when the angular velocity of the universal joint is the control input of the spacecraft system, the attitude motion of the system becomes a typical nonholonomic one, and the dynamics and con- trol problem of the motion planning become very complicated. Particle Swarm Optimization on spacecraft attitude of nonholonomic motion planning is proposed according to the optimal control theory. The effectiveness of the approach is shown by numerical simulation.

关 键 词：欠驱动航天器 姿态运动 非完整约束 粒子群算法 运动规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]