组合体航天器智能协同姿态控制研究

组合体航天器在姿态机动过程中的各单体卫星承受的控制力是不均匀的，局部控制力过大将会导致组合链接断裂而失效。应用多体动力学理论建立了组合体航天器间的相互作用模型，对内力、内力矩与整星姿态、控制力矩之间的关系进行了分析；仿真了极端情况下的内力矩分布，其大小可能超过常用对接机构的力矩承受范围；采用粒子群算(PSO)法对控制合力矩进行优化分配，通过预设初值和继承初值来加快PSO算法的收敛速度，实时调整各星控制力矩分配比例，减小星间相互作用力，实现组合体航天器的智能协同控制，保证组合体航天器的连接铰不因受力过大而损坏。算法仿真和Adams软件验证分析表明，本文建立的相互作用模型可准确计算出星间相互作用力，提出的智能协同姿控算法可显著降低姿控过程中的星间内力，确保组合体航天器的安全。

Research on intelligent cooperative attitude control ofassembled spacecraft#br#

The control force borne by each single satellite in the process of attitude maneuver of assembled spacecraft is uneven. In this paper, the interaction model between the assembled spacecrafts was established to analyze the relationships between internal forces,internal torque and attitude,control torques respectively based on the theory of multi-body dynamics. The distribution of internal torques under extreme conditions was simulated, which may exceed the bearing range of torque of common docking mechanism. The particle swarm optimization （PSO） algorithm was used to optimize the distribution of control torques, and the convergence rate of PSO algorithm was speeded up by default initial values and inheritance initial values. Real-time adjustment of control torque distribution reduced the interaction between satellites and realized the intelligent cooperative control of assembled combination, to ensure that the connection hinge of assembled spacecraft would not be damaged due to excessive force. The simulation of the algorithm and the verification analysis of Adams software show that the interaction model established in this paper can accurately calculate the inter-star interaction force, and the proposed intelligent cooperative attitude control algorithm can significantly reduce the inter star internal force in the process of attitude control, ensuring the safety of the assembled spacecraft.