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首页> 外文期刊>Acta astronautica >Constrained spacecraft reorientation using mixed integer convex programming
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Constrained spacecraft reorientation using mixed integer convex programming

机译：使用混合整数凸规划的约束航天器重定向

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摘要

A constrained attitude guidance (CAG) system is developed using convex optimization to autonomously achieve spacecraft pointing objectives while meeting the constraints imposed by on-board hardware. These constraints include bounds on the control input and slew rate, as well as pointing constraints imposed by the sensors. The pointing constraints consist of inclusion and exclusion cones that dictate permissible orientations of the spacecraft in order to keep objects in or out of the field of view of the sensors. The optimization scheme drives a body vector towards a target inertial vector along a trajectory that consists solely of permissible orientations in order to achieve the desired attitude for a given mission mode. The non-convex rotational kinematics are handled by discretization, which also ensures that the quaternion stays unity norm. In order to, guarantee an admissible path, the pointing constraints are relaxed. Depending on how strict the pointing constraints are, the degree of relaxation is tuneable. The use of binary variables permits the inclusion of logical expressions in the pointing constraints in the case that a set of sensors has redundancies. The resulting mixed integer convex programming (MICP) formulation generates a steering law that can be easily integrated into an attitude determination and control (ADC) system. A sample simulation of the system is performed for the Bevo-2 satellite, including disturbance torques and actuator dynamics which are not modeled by the controller. 'Simulation results demonstrate the robustness of the system to disturbances while meeting the mission requirements with desirable performance characteristics. (C) 2016 IAA. Published by Elsevier Ltd. All rights reserved.
机译：使用凸优化技术开发了约束姿态导航（CAG）系统，以在满足机载硬件施加的约束的同时自主实现航天器指向目标。这些约束包括控制输入和摆率的界限，以及传感器施加的指向约束。指向约束由指示锥体的允许方向的包含和排除锥组成，以便将物体保持在传感器的视野范围之内或之外。优化方案沿着仅由允许的取向组成的轨迹朝着目标惯性矢量驱动身体矢量，以便为给定的任务模式实现所需的姿态。非凸旋转运动学通过离散化处理，这也确保了四元数保持统一范数。为了保证允许的路径，减轻了指向约束。根据指向约束的严格程度，可调整放松程度。在一组传感器具有冗余的情况下，使用二进制变量可以将逻辑表达式包含在指向约束中。生成的混合整数凸规划（MICP）公式生成了一个转向定律，可以很容易地将其集成到姿态确定和控制（ADC）系统中。对Bevo-2卫星进行了系统的示例仿真，包括控制器未建模的干扰扭矩和执行器动力学。仿真结果证明了该系统对干扰的鲁棒性，同时满足了具有理想性能特征的任务要求。 （C）2016 IAA。由Elsevier Ltd.出版。保留所有权利。

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