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A PSO-Based Method for Attitude Maneuvering Path Planning of Rigid-Soft-Hydraulic Coupling System

A technology of attitude maneuvering and path planning, which is applied in the direction of motor vehicles, attitude control, space navigation equipment, etc., to achieve the effect of improving stability

Active Publication Date: 2021-06-22
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, there is an urgent need for a PSO-based rigid-soft-liquid coupling system attitude maneuver path planning method, so that the fluid-filled flexible spacecraft can quickly complete large-angle attitude maneuvers and obtain high stability, and there is no related description in the prior art

Method used

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  • A PSO-Based Method for Attitude Maneuvering Path Planning of Rigid-Soft-Hydraulic Coupling System
  • A PSO-Based Method for Attitude Maneuvering Path Planning of Rigid-Soft-Hydraulic Coupling System
  • A PSO-Based Method for Attitude Maneuvering Path Planning of Rigid-Soft-Hydraulic Coupling System

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Embodiment

[0081] Step 1, establish a dynamic model of a flexible spacecraft: a class of attitude dynamics equations, flexible accessory vibration equations, and liquid fuel shake equations with flexible solar sails and liquid fuels. described as:

[0082]

[0083]

[0084]

[0085] Where: i∈R 3×3 Turn inertia for spacecraft; Ω∈R 3×1 Spacecraft angular speed; Ω × ∈R 3×3 Expression of an oblique symmetrical matrix of Ω; C 0 ∈R 3×n Motional coupling coefficient matrix of flexible vibration motion and spacecraft; g 1 ∈R 2×m , C 1 ∈R m×3 , C 2 ∈R m×3 All are the coupling coefficient matrix between liquid shake movement and aerospace rotation; τ∈R 3×1 For control torque vector; T d ∈R 3 ×1 Environmental interference moment; ζ∈R n×n Vibrating modal damping ratio for flexible accessories; λ∈R n×n Vibration modal frequency matrix of flexible accessories; λ 2 ∈R m×m Switch mode frequency square matrix for liquid; η∈R n×1 Vibration modal vector for flexible body; q∈R m×1 Rock mode vector; α is ...

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Abstract

The present invention proposes a PSO-based rigid-flexible-fluid coupling system attitude maneuvering path planning method, comprising the following steps: first establishing a dynamic model of a liquid-filled flexible spacecraft; then obtaining the angular acceleration curve of the liquid-filled flexible spacecraft, Angular velocity curves, multi-segment angular position curves are obtained, and the attitude maneuvering path of the liquid-filled flexible spacecraft is planned; the expression of each curve in the multi-segment angular position curves is calculated; the attitude of the liquid-filled flexible spacecraft is calculated using the PD control system Control; optimize the parameters of the maneuvering path of the liquid-filled flexible spacecraft: the parameters of the maneuvering path of the liquid-filled flexible spacecraft are optimized using an adaptive grid-based multi-objective particle swarm optimization algorithm. The method of the invention reduces the excitation of the vibration of the flexible attachment and the sloshing of the liquid by the attitude maneuver, and realizes the fast maneuvering, fast and stable control of the attitude of the liquid-filled flexible spacecraft at a large angle.

Description

Technical field [0001] The present invention belongs to the field of spacecraft attitude control, particularly a method of pso-based flexible coupling system attitude motor path planning method. Background technique [0002] In order to complete complex tasks and extend the life life, modern spacecraft needs to carry a large amount of liquid fuel and lightweight accessories, which has complex nonlinear dynamics characteristics of rigidity, flexible spacecraft, has a complex nonlinear dynamics characteristic, posture Map is extremely easy to induce liquid shake and accessories vibration, which has made great challenges on realizing the rapid motor rapid speed of aerospactor attitude. [0003] Studies on the dynamics of flexible spacecraft have shown that in the process of gesture, the mutation of the gesture angular acceleration (ie, discontinuity) often leads to a strong vibration of the flexible windsurfing and the strong shake of the liquid, at the same time, in the motor The m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
CPCB64G1/244
Inventor 郭毓朱锐虞文杰朱志浩王璐姚伟陈庆伟郭健吴益飞
Owner NANJING UNIV OF SCI & TECH
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