【摘要】 针对复杂约束下航天器大角度姿态机动问题，提出一种基于三维特殊正交群的姿态高效机动路径规划和时域调节方法。针对航天器大角度机动过程中的姿态约束问题，设计了基于梯度的避障策略，得到了虚拟时域中的姿态路径和期望角速度。为了满足执行机构最大输出力矩约束，提出了迭代非线性时域调节方法，通过时间缩放得到了满足控制力矩约束的高效机动角速度/控制力矩。仿真结果表明，该方法在满足航天器姿态机动过程中姿态约束和控制力矩约束的同时，相较现有同类方法，显著缩短了机动时间，为受约束的航天器高效机动规划与控制提供了新的思路。更多还原

【Abstract】 For the large-angle attitude maneuver of spacecraft under complex constraints, a efficient maneuver path planning for attitude and time scaling method on 3-dimensional special orthogonal group was proposed. Aiming at handling the attitude constraints during maneuvering, a gradient-based obstacle avoidance methodology was designed and the attitude routes and desired angular velocity trajectory was obtained on the virtual time domain. Considering the maximum output torque of the actuator, an iterative nonlinear time scaling method was proposed to adjust the angular velocity/control torque. Simulation results show that the proposed method not only satisfies the attitude constraints and the control torque constraints during the spacecraft maneuver process, but also significantly shortens the maneuver time comparing with existing methods. Novel results provide a new insight for efficient constrained attitude planning and controller design.更多还原