Research On Path Planning For Large Angle Attitude Agile Maneuver And Control Of Satellite

With the rapid development of aerospace technology, the requirements of observation mission for ground specific target are increasingly high, there is Non-track multiple bands imaging, target staring, stereo imaging and other space tasks, having the ability of performing such tasks are called Agile Satellite. Satellite agility is mainly reflected in large angle attitude maneuver, and maintain high precision, high stability during the maneuvering. Which type of attitude maneuver path to select to complete attitude fast switching for satellites is the first problem to be solved, and considering the influence of the satellite flexible accessories to agile is a key problem for study. According to the characteristics of agile satellites,in this paper, we make a deep research around the design of agile satellite dynamics model,large angle maneuver path planning, path parameter determination and attitude maneuver controller design. Based on the above,a simulation software for agile satellite large angle maneuver is developed base on the MFC. The main content is composed of the following parts:Firstly, a nonlinear dynamic and kinematic model of flexible satellite is established, as a path planning system equations of iteration. The derived models mainly include: flexible dynamic model which take the vibration of flexible solar panels into consideration; Attitude kinematics model based on Euler angle and quaternion, and transformation of satellite attitude in different space coordinates.Secondly, a deep research on the algorithm of agile satellite large angle maneuver path planning is carried out. A path planning is designed based on multiple consfiguration,the sptraints which include the vibration of the flexible panel, actuator output torque capability,sensor measuring range, maneuver time, accuracy and stability of final maneuver stage. The research contents are mainly focused on three kinds of satellite attitude maneuver path planning algorithm, applied in time optimal and time fixed pattern, which consist of trapezoidal path planning,sinusoidal path planning and polynomial path planning. a solving path parameter by Multi-objective particle swarm optimization is proposed aim at path parameter having several solutions under multiple constraints. In the same simulation case,against the simulation results are given three different paths of maneuvering attitude angle,angular velocity, angular acceleration, maneuver attitude error, flexible panels three-order vibration and output torque, to show polynominal path planning can meet the requirements of agile satellite attitude maneuver constraint and precision.Thridly, the attitude tracking control method of agile satellite maneuver is studied in depth. Mainly include: in view of large and continuous control torque required by satellite large angle maneuver process,the mathematical model of the control moment gyro group of Pyramid configuration is established, and the three aspects are analyzed from the position distribution of CMG in the configuration, the space distribution of singular surface and the design of control law. Based on the error kinematics and error dynamics, a PD controller is designed, and its asymptotic stability is analyzed by using the Lyapunov second method.Against the uncertainty of the disturbance torque and the instability of the mathematical model in process of satellite maneuver, the sliding mode variable structure controller is designed based on the error angular velocity and the error quaternion, which improve the robustness and stability of the control system. the simulation system of agile satellite closed-loop control is built based on these two controller,to verify the effectiveness of the control strategy design and reasonable.Lastly, the paper developed a simulation software for agile satellite large angle attitude maneuver with the foundation of designed algorithm, based on MVC design pattern in VC2010 IDE, which realized the coupling between the various mathematical models, and demonstrates the 3D/2D visual scene of agile satellite maneuver process by STK engine. In the case of the three imaging tasks of the British coastline, the effectiveness of the large angle maneuver path planning algorithm and the maneuver tracking control algorithm is verified by the data curve/report and 3D/2D scene.