• 飞行器设计与力学 •

### 非凸二次约束下航天器姿态机动路径迭代规划方法

1. 1. 北京理工大学深空探测技术研究所，北京100081；2. 深空自主导航与控制工信部重点实验室，北京100081
• 收稿日期:2015-07-08 修回日期:2015-11-02 出版日期:2016-06-15 发布日期:2016-06-25
• 基金资助:

国家973计划（2012CB720000）；国家自然科学基金（60803051）；高等学校博士学科点专项科研基金（20111101110001）；“十二五”民用航天预研项目

### Spacecraft Attitude Maneuver Path Iterative Planning Method Under Nonconvex Quadratic Constraints

WU Chang qing, XU Rui, ZHU Sheng ying, CUI Ping yuan

1. 1. Institute of Deep Space Exploration, Beijing Institute of Technology, Beijing 100081，China;
2. Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration, Ministry of Industry and Information Technology, Beijing 100081，China
• Received:2015-07-08 Revised:2015-11-02 Online:2016-06-15 Published:2016-06-25

Abstract:

The objective of this paper is to design an optimal attitude maneuver path for a rigid body spacecraft under complex constraints. Firstly, dynamics and kinematic constraints, bounded constraints and attitude pointing constraints are described and analyzed. Especially, the attitude pointing constraints are formulized as the nonconvex quadratic form; Secondly, the constrained attitude maneuver problem can be formulated as the nonconvex quadratically constrained quadratic programming with the target that the energy-cost is smallest; Then the linear relaxation technique is introduced, and the problem is converted into a bilinear programming problem, in which convex envelope and concave envelope of one variable can be obtained. By this theory the complexity of solving is reduced and a linear relaxation of the original problem can be obtained. Meanwhile, in order to improve the solution accuracy, an iterative planning algorithm based on evaluation function is presented in this paper. This algorithm makes the solution of linear relaxation as the initial value, and an optimal solution can be achieved by iteration ultimately. Simulation results show that this method not only meets the complex attitude constraints to give an optimal attitude maneuver path, but also reduces energy consumption.