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.

中文翻译：

---

基于运动学模型的空间模块化可重构卫星联合弹道规划

本文研究了粒子群优化（PSO）算法在规划空间模块化可重构卫星（SMRS）的联合轨迹中的应用。SMRS通过联合动作更改其配置，以完成各种太空任务；由于空间中的动态耦合效应，其运动稳定性受关节运动的影响。为了提高重构过程中的运动稳定性，本文建立了优化目标方程来表征SMRS重构过程中的运动稳定性。推导了基于拟议的SMRS虚拟关节坐标系的速度级和位置级运动学模型。虚拟关节坐标系解决了SMRS关节布置不对称导致关节坐标系不对称的问题。选择六阶和七阶多项式曲线来参数化关节轨迹并确保关节运动的连续位置，速度和加速度。最后，在两种情况下，使用PSO算法优化轨迹参数。两种情况下在六阶和七阶多项式方面的一致优化结果证明，PSO算法可以有效地用于SMRS的联合轨迹规划。