微纳聚合体卫星的对称式重构规划算法

为解决微纳聚合体卫星变构过程中，聚合体各部分之间的动力学耦合导致的卫星整体姿态翻转或紊乱，提出了一种对称式变构规划算法。首先建立了铰链约束下的漂浮基多刚体系统动力学模型，研究了重构过程中各运动模块对本体姿态的影响，提出当每两个运动模块位置与转动方向满足对称性条件时，两者对本体姿态的影响可在一定程度上相互抵消。基于上述理论，在A*算法中引入最优分配度量和对称性判定，设计了并行对称重构规划算法。仿真结果表明，该规划算法可实现重构过程中多模块并行、对称运动，重构过程总步数较少，运动模块对本体姿态的影响小。

Symmetric Reconfiguration Planning Algorithm of Combination Body of Micro Nano Satellites

In the process of reconfiguration of the combination body of micro-nano satellites (CBMS), the attitude of CBMS is disturbed due to the dynamic coupling between its different parts. To solve this problem, the symmetric reconfiguration planning algorithm is proposed. Firstly, a dynamic model of free-floating multi-body system under the constraint of hinge is established, and the influence of the modules in motion on the attitude of the main body during reconfiguration is studied. The results of simulation show that when the positions and directions of rotation of every two modules satisfy the symmetry conditions, the influence of both two modules on the attitude of the main body can offset each other. The optimal assignment metric and symmetry judgement are introduced in A* algorithm to design the planning algorithm of parallel and symmetric reconfiguration. The results of simulation show that this algorithm can realize the parallel and symmetry motion of multiple modules during reconfiguration. This algorithm obtains a reconfiguration process with fewer steps, and little influence on the attitude of the main body.