论文总字数：16222字

摘 要

库仑力编队卫星控制是卫星领域一个全新的概念^[1]，2002 年 Lion B.King率先提出这个词汇并作出定义。它的重要组成部分是库仑力（也叫静电力）。它的提出以及后续的发展对卫星在太空中的探索和发现起到了重要的作用。早在 1966 年，很多的人进行了探讨与实验来对使用库仑力对膜帆结构进行充电来调整飞行姿态论证^[2]。但结果只是能够用来调整膜帆构造，卫星编队没有真正的实行成功。因此，人们又想到加入新的电荷来达到目的，即通过不停地发射带电粒子（电子和离子）来进行控制。由于在真空中库仑力的大小反比于相对距离的平方。因此，为了使库仑力能够产生相应作用，库仑力卫星在飞行时卫星和卫星之间的距离是不超过100米的。

本文研究的是库仑卫星编队避障路径规划，即是指卫星编队在地球同步轨道（CEO）的飞行中遇到障碍物，通过基于势函数的路径规划方法得到从卫星编队现有位置到规避障碍物的行进路径。避障过程的路径规划算法为卫星能够顺利安全的到达目标点提供必不可少的技术支持，这能够提高库仑编队卫星完成任务度，缩短工作时间，降低工作成本和加深对太空的探索。

论文使用基于势函数方法研究了碰撞规避过程中的路径规划算法，实现编队卫星避开障碍物的最优规划，并通过MATLAB仿真，得到库仑力卫星编队规避障碍的路径仿真图。

关键词：库仑力卫星编队飞行；势函数；MATLAB仿真；路径规划；

Path planning algorithm for collision avoidance of Coulomb satellite formation

Abstract

The formation control of the Coulomb satellites is a new concept in the field of satellites [1]. In 2002, B.King Lion first proposed the term and defined it. It's an important part of the Coulomb satellite formatioin (also called electrostatic force). It is proposed and the subsequent development of the satellite in space exploration and discovery has played an important role. As early as 1966, a lot of people were explored and the experiments were carried out on the use of Coulomb force on the membrane structure to charge to adjust the flight attitude demonstration [2]. But the results can only be used to adjust the structure of the film sail, in fact, real satellite formation did not really succeed. As a result, people are thinking of joining a new charge to achieve the goal, that is, by constantly emitting charged particles (electrons and ions) to control. Due to the magnitude of the Coulomb force in the vacuum is inversely proportional to the square of the relative distance. Therefore, in order to make the Coulomb force be able to produce the corresponding action, the distance between the satellite and the satellite is not more than 100 meters.

The problem of satellite formation obstacle avoidance and path planning is referreds to the satellite leading to the target point as encountering on obstacles during flying.Through a certain algorithm, the satellite could avoid obstacles and cross over them. At the same time, the travel route is displayed. In the environment with obstacle, the path planning algorithm for support satellites can safely and smoothly arrive at the target, which can improve Coulomb satellite formation to complete the task of, shorten the work time, reduce the cost and enhance the exploration of space.

In this paper, the potential function method is used to realize the optimal planning of formation satellites to avoid obstacles by MATLAB, and by MATLAB simulation, the path simulation diagram of the obstacle avoidance of the Coulomb force satellite formation is obtained.

Keywords： Coulomb force satellite formation flying；Potential function; MATLAB simulation; path planning.

目录

摘 要 II

Abstract III

第一章 绪论 7

1.1 课题研究的背景和意义 7

1.1.1 立题背景 7

1.1.2 研究的目的和意义 7

1.2 国内外研究现状 8

1.2.1 卫星仿真设备的现状 8

1.2.2 库仑力卫星编队理论研究现状 10

1.3 论文的主要研究内容 12

第二章 希尔模型下的动力学建模 13

2.1参考坐标系的建立 13

2.2库仑卫星编队飞行动力学模型的构建 13

2.3本章小结 17

第三章 势函数的建立 17

3.1势函数的基本原理 17

3.2势函数相应的公式 18

3.3缺陷的描述 19

3.4缺陷的改进方法 20

3.3本章小结 21

第四章 势函数法仿真实验 22

4.1势函数实现的步骤 22

4.2路径规划的仿真 22

4.3本章小结 23

第五章 结语 24

5.1本文工作总结 24

6.2展望 25

参考文献 26

致 谢 28

附录 29

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