双刚体航天器姿态运动规划的样条逼近方法

双刚体航天器系统在无外力矩作用时，其姿态运动可通过连接双刚体航天器的关节铰进行控制，这种关节铰可由球铰或万向节铰构成．本文利用系统相对于总质心的动量矩守恒这一特性研究了双刚体航天器的三维姿态运动控制问题．分别导出带球铰和万向节铰连接的双刚体航天器系统三维姿态运动控制模型，并将系统的姿态运动控制问题转化为无漂移系统的运动规划问题．利用最优控制和样条逼近方法，在控制输入的样条逼近中引入粒子群算法，提出基于样条逼近的最优运动规划数值算法．运动规划的最优控制是光滑的，且初值和终值均为零，通过数值仿真，表明该方法对带球铰和万向节铰连接的双刚体航天器三维姿态运动规划是有效的．

Attitude motion planning of dual rigid bodies spacecraft using spline approximation

In the torque-free case, the attitude motion of a spacecraft with dual rigid bodies can be controlled by a hinge joint, which is formed by spherical or universal joint. Based on the conservation of angular momentum, the spacecraft with dual rigid bodies and problem of 3-dimensional attitude motion control are studied. The 3-dimensional attitude control model is given in this paper and the problem of attitude motion control is transformed into the motion planning problem of system without drift. Using optimal control and spline approximation, the particle swarm algorithm is introduced into the control inputs and the numerical algorithm for optimal motion planning is proposed. The optimal control of motion planning is smooth and the initial and final values are zero. The simulation shows that this method is effective for the 3-dimensional attitude motion planning of spacecraft with dual rigid bodies.