Spacecraft attitude reorientation with dynamic forbidden zones based on a teardrop-shaped artificial potential function
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摘要:
针对航天器需实时规避多个动态禁止指向区域的技术难题，提出基于水滴形排斥人工势函数的姿态轨迹规划方法。区别于传统将天体视为静止禁区的假设，聚焦深空探测器规避微流星体撞击和低轨卫星避免高轨卫星光反射干扰等典型场景，通过分析微流星体超高速特性及卫星间相对角速度差异，构建了准确描述禁止指向约束动态演化的数学模型。突破传统圆形均匀排斥势场局限，提出水滴形自适应势函数，根据航天器与禁区的接近角度实时调整势场强度分布，在威胁方向增强排斥、远离方向适当减弱，避免过度保守；引入基于历史状态的运动趋势预测函数，通过分析相对运动特性实现风险预判和主动规避；设计排斥势函数系数正负可调的短路径绕行策略，使航天器能灵活选择远离式避障或贴边绕行模式。通过单/多敏感器和单/多动态禁区等复杂场景仿真验证，结果表明：所提方法在避障成功率、路径优化和能量消耗等关键指标上均优于传统方法，显著提升了航天器在动态环境中的预见性和避障性能。研究成果为解决动态约束下的航天器姿态控制问题提供了新的理论基础和实用化技术方案，对提高航天器自主避障能力具有重要工程应用价值。
Abstract:To address the challenge of spacecraft navigating multiple dynamic forbidden-pointing zones, this study proposes an attitude trajectory planning method based on a teardrop-shaped repulsive artificial potential function. This paper examines situations where a low-orbiting satellite must avoid light reflections from a high-orbiting satellite and where the surface of a deep space probe must avoid the direction of micrometeoroid impacts, in contrast to the conventional assumption that celestial bodies are static forbidden zones. Based on the high-speed characteristics of micrometeoroids and the angular velocity differences between satellites, a dynamic forbidden zone model is constructed. Building on the traditional uniform repulsive circle potential function, an innovative teardrop potential function is proposed, enabling the potential field to dynamically adapt to the approach angle between the spacecraft and the forbidden zone. A motion trend function is also introduced to characterize the relative motion characteristics. Furthermore, a short-path detour strategy with adjustable repulsive potential function coefficients is designed, enabling the spacecraft to flexibly switch obstacle avoidance directions based on actual needs. According to simulation results, this approach greatly enhances spacecraft predictability and obstacle avoidance performance in complex and dynamic settings, offering significant theoretical and engineering application value for attitude control under dynamic constraints.
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图 3 深空探测器和禁区在t1、t2时刻的动态演化示意图
Figure 3. Dynamics of deep space probe and forbidden zone at time t1 and t2
图 8 水滴形斥力势场示意图
Figure 8. Schematic diagram of water droplet type repulsive potential field
图 9 调制前后姿态轨迹示意图
Figure 9. Schematic diagram of before and after modulation attitude trajectories
图 10 深空探测器与微流星体轨迹的比较
Figure 10. Comparative analysis of deep space probe and micrometeoroid trajectories
图 12 单动态禁区下改进前后轨迹对比
Figure 12. Comparative analysis of trajectory with original and enhanced methods under single dynamic forbidden zone
图 13 场景2在改进后控制律影响下的仿真结果
Figure 13. Simulation results of scenario 2 with enhanced control algorithm
图 14 场景3在改进后控制律影响下的仿真结果
Figure 14. Simulation results of scenario 3 with enhanced control algorithm
图 15 系统性能调制前后对比分析
Figure 15. Comparative analysis of system performance before and after modulation
表 1 4组场景仿真工况
Table 1. Four sets of scenario simulation conditions
参数 数值 $ {\boldsymbol{J}}/\left(\text{kg}\cdot {\text{m}}^{2}\right) $ Diag(8, 7, 4) $ {\omega }_{\max }/\left(\text{rad}\cdot {\text{s}}^{-1}\right) $ 0.05 $ {a}_{\max }/\left(\text{rad}\cdot {\text{s}}^{-2}\right) $ 0.01 $ {\theta }_{\text{Fz}}/\left(^{\circ}\right) $ 20 $ {\theta }_{\text{Ia}}/\left(^{\circ}\right) $ 30 $ {\theta }_{\text{M}}/\left(^{\circ}\right) $ 1 $ {k}_{\text{q}} $ 0.2 $ {k}_{{\text{ω}} } $ 3 $ {t}_{{i}}\text{/s} $ 0 $ {t}_{\text{f}}\text{/s} $ 200 
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表 2 轨道参数性能指标
Table 2. Track parameter performance indicators
参数 数值 $ {\boldsymbol{J}}/\left(\text{kg}\cdot{\text{m}}^{2}\right) $ Diag(8, 7, 4) $ {\omega }_{\max }/\left(\text{rad}\cdot\text{s}^{-1}\right) $ 0.05 $ {a}_{\max }/\left(\text{rad·}{\text{s}}^{-2}\right) $ 0.01 $ {\theta }_{\text{F}{\textit{z}} }/\left(^{\circ}\right) $ 20 $ {\theta }_{\text{Ia}}/\left(^{\circ}\right) $ 30 $ {\theta }_{\text{M}}/\left(^{\circ}\right) $ 1 $ {k}_{\text{q}} $ 0.2 $ {k}_{{\text{ω}} } $ 3 $ {t}_{\text{i}}\text{/s} $ 0 $ {t}_{\text{f}}\text{/s} $ 500
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