Abstract
This paper investigates the application of particle swarm optimization (PSO) algorithm to plan joint trajectories of the space modular reconfigurable satellite (SMRS). SMRS changes its configuration by joint motions to complete various space missions; its movement stability is affected by joints motions because of the dynamic coupling effect in space. To improve the movement stability in reconfiguration progress, this paper establishes the optimization object equation to characterize the movement stability of SMRS in its reconfiguration process. The velocity-level and position-level kinematic models based on the proposed virtual joint coordinate system of SMRS are derived. The virtual joint coordinate system solves the problem of asymmetric joint coordinate system resulted by the asymmetric joint arrangement of SMRS. The six-order and seven-order polynomial curves are chosen to parameterize the joint trajectories and ensure the continuous position, velocity, and acceleration of joint motions. Finally, PSO algorithm is used to optimize the trajectory parameters in two cases. Consistent optimization results in terms of the six-order and seven-order polynomial in both cases prove the PSO algorithm can be effectively used for joint trajectory planning of SMRS.
Highlights
Traditional space systems have been designed to perform a single mission, and the permanently fixed structure cannot be reconfigured for other missions
The paper is arranged as follows: in Section 2, we establish the velocity-level and position-level kinematic equations of the space modular reconfigurable satellite (SMRS) to describe the dynamic coupling effect between pose velocity and joint trajectories; in Section 3, the optimization objective equation and constraints of joint trajectory planning are determined, and the joint trajectory is parameterized to determine the optimal parameters of the joint trajectory; in Section 4, we analyze the principle and steps of the particle swarm optimization (PSO) algorithm used in joint trajectory planning of SMRS; In Section 5, the PSO algorithm is used to plan the trajectories of SMRS from folding configuration to deployment configuration and from deployment configuration to mission configuration; in Section 6, we discuss and summarize the work
SMRS composed of 9 connecting rods and 24 joints is selected as the research object
Summary
Traditional space systems have been designed to perform a single mission, and the permanently fixed structure cannot be reconfigured for other missions. The paper is arranged as follows: in Section 2, we establish the velocity-level and position-level kinematic equations of the SMRS to describe the dynamic coupling effect between pose velocity and joint trajectories; in Section 3, the optimization objective equation and constraints of joint trajectory planning are determined, and the joint trajectory is parameterized to determine the optimal parameters of the joint trajectory; in Section 4, we analyze the principle and steps of the PSO algorithm used in joint trajectory planning of SMRS; In Section 5, the PSO algorithm is used to plan the trajectories of SMRS from folding configuration to deployment configuration and from deployment configuration to mission configuration; in Section 6, we discuss and summarize the work.
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