吉林大学学报(工学版) ›› 2025, Vol. 55 ›› Issue (1): 355-365.doi: 10.13229/j.cnki.jdxbgxb.20230279

• 通信与控制工程 • 上一篇    

基于改进自适应伪谱法的遥感卫星姿态机动规划方法

范国伟(),高宇,刘泉志,肖阳,吕雪莹,张乐,张刘()   

  1. 吉林大学 仪器科学与电气工程学院，长春 130012
  • 收稿日期:2023-03-28 出版日期:2025-01-01 发布日期:2025-03-28
  • 通讯作者: 张刘 E-mail:fanguowei@jlu.edu.cn;zhangliu@jlu.edu.cn
  • 作者简介:范国伟（1983-），男，副教授，博士.研究方向：卫星姿态控制与仿真技术.E-mail： fanguowei@jlu.edu.cn
  • 基金资助:
    国家自然科学基金项目(62073151);吉林省科技厅项目(20210101177JC)

Attitude maneuvering planning method of remote sensing satellite based on improved adaptive pseudo-spectrum method

Guo-wei FAN(),Yu GAO,Quan-zhi LIU,Yang XIAO,Xue-ying LYU,Le ZHANG,Liu ZHANG()   

  1. College of Instrumentation & Electrical Engineering，Jilin University，Changchun 130012，China
  • Received:2023-03-28 Online:2025-01-01 Published:2025-03-28
  • Contact: Liu ZHANG E-mail:fanguowei@jlu.edu.cn;zhangliu@jlu.edu.cn

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摘要：

针对高分辨率挠性遥感卫星在进行对地观测任务时的多约束姿态最优机动规划问题，提出了一种改进的hp自适应Radau伪谱法。本文方法采用双层优化迭代策略，以微分-代数约束在以高斯分布的采样点处的残差为误差评估准则进行优化，以各采样点处曲率最大值与标准差比值的四分之一为细化准则进行二次优化，这两点共同提高了该方法的求解效率。首先结合卫星动力学、运动学和挠性附件的振动方程，建立了面向最优控制方法的刚挠耦合状态空间方程；其次在建立包含代数-微分约束、控制力矩约束、角动量约束、路径约束以及满足优化目标函数的基础上，采用改进hp自适应Radau伪谱法将最优控制问题转化为一般的非线性规划问题进行求解。仿真结果表明，本文方法能够生成满足各项约束要求的最优轨迹，且相比于传统hp自适应伪谱法在同精度下耗时更短，具有更高的求解效率。本文方法为高分辨率遥感卫星执行复杂空间任务提供了设计依据，具有工程意义。

关键词: 挠性遥感卫星, hp自适应, Radau伪谱法, 多约束, 轨迹优化

Abstract:

An improved hp adaptive Radau pseudospectral method is proposed for the multi-constrained attitude optimal manoeuvre planning problem of high-resolution flexural remote sensing satellites for Earth observation missions. The improved method is proposed to use a two-layer optimisation iteration strategy， with the residuals of the differential-algebraic constraint at sampling points with Gaussian distribution as the error evaluation criterion for optimisation and the quarter of the ratio of curvature maximum to standard deviation at each sampling point as the refinement criterion for quadratic optimisation， which together improve the efficiency of the solution of the method. Firstly， a rigid-flexible coupled state space equation for the optimal control method is established by combining the satellite dynamics， kinematics and the vibration equations of the flexural attachment， and secondly， an improved hp adaptive Radau pseudospectral method is used to transform the optimal control problem into a general non-linear programming. The problem is solved using a modified hp adaptive Radau pseudospectral method. The simulation results show that the method can generate optimal trajectories satisfying all constraints， and it takes less time and is more efficient than the traditional hp adaptive pseudospectral method with the same accuracy. The method provides a design basis for high-resolution remote sensing satellites to perform complex space missions， and has engineering significance.

Key words: flexible remote sensing satellite, hp adaptive, Radau pseudospectral method, multi-constraint, trajectory optimization

中图分类号: 

  • V448.22

图1

改进前后采样点分布对比"

图2

整体算法流程"

图3

改进hp自适应Radau伪谱法仿真结果"

图4

改进前后卫星三轴姿态角对比"

图5

改进前后卫星三轴角速度对比"

图6

改进前后卫星三轴力矩对比"

表1

不同精度下改进前后伪谱法的优化比较"

求解精度方法CPU时间/s配点数网格细化次数最大误差目标值tf/s
10-3hp法0.457 0214938.723 9*10-423.887 5
改进hp法0.457 2305138.522 6*10-423.887 5
10-4hp法1.414 686106108.842 7*10-523.889 5
改进hp法1.325 37015768.835 1*10-523.897 4
10-5hp法3.481 176214149.687*10-623.900 5
改进hp法2.282 74928469.267 6*10-623.900 6
10-6hp法10.308 88383209.827 7*10-723.900 7
改进hp法4.289 88649678.999*10-723.900 5
10-7hp法38.923 34723269.857 6*10-823.900 6
改进hp法30.479 6095099.702 2*10-823.900 5
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