针对传统全驱动微纳卫星推进系统复杂、整星集成度低的问题，本文面向推力矢量微纳卫星抵近交会任务，提出了一种基于改进二阶锥规划（Second-Order Cone Programming, SOCP）的闭环制导控制方法。首先，利用多刚体动力学和执行机构特性推导推力矢量微纳卫星姿态控制动力学方程，并分析推力器摆动引起的附加扰动；其次针对微纳卫星抵近任务需求，提出一种基于改进SOCP的轨迹优化方法，解决了由于卫星质量变化带来的动力学非线性影响，并对推力矢量带来的二阶等式约束实现了无损凸化；最后，为应对实际过程中的轨迹偏差，将改进SOCP用于固定周期闭环重规划，通过跟踪姿态曲线实现闭环控制。仿真结果表明所提方法可以得到最优抵近轨迹并实现闭环跟踪，边界激活误差小于1×10-8，闭环制导最终相对位置误差小于1m，相对速度误差小于0.3m/s。
To address the problems of complex propulsion systems and low overall integration in traditional fully actuated micro-nano satellites, this paper proposes a closed-loop guidance and control method based on improved Second-Order Cone Programming (SOCP) for the proximity rendezvous mission of a thrust-vectoring micro-nano satellite. First, the attitude control dynamics of the thrust-vectoring micro-nano satellite are derived based on multi-rigid-body dynamics and actuator characteristics, and the additional disturbances caused by thruster swinging are analyzed. Second, according to the requirements of micro-nano satellite proximity missions, a trajectory optimization method based on improved SOCP is proposed, which addresses the nonlinear dynamic effects caused by satellite mass variation and achieves lossless convexification of the second-order equality constraint introduced by thrust vectoring. Finally, to compensate for trajectory deviations during the actual flight process, the improved SOCP is applied to fixed-period closed-loop re-planning, and closed-loop control is realized by tracking the attitude profile. Simulation results show that the proposed method can generate an optimal proximity trajectory and achieve closed-loop tracking, with a boundary activation error less than 1×10-8, a final relative position error of less than 1 m, and a relative velocity error of less than 0.3 m/s.
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