空间多体系统具有构型姿态动力学耦合的特点，这为其姿态控制提供了一种新的可能，即不依赖燃料助推、动量轮、磁力矩器等外力矩的帮助，通过自身的构型变化实现想要的姿态调整。这种策略在立方星、甚小型卫星，以及太阳帆航天器等非传统卫星上较有优势。本文就此对四种多刚体航天器系统姿态运动规划问题进行了分析和讨论。 针对双刚体立方星系统本文提出了一种基于构型空间形函数的运动规划方法，通过该形函数方法规划出的运动轨迹简明清晰，可实现三维空间中任意姿态机动，其燃料优性与通过最优控制理论得到的局部最优解相差不大，既可以直接作为规划结果投入使用，也可以作为迭代初值帮助求解时间最优/轨迹最短问题。 可折叠电路板卫星是借助构型变化进行姿态调整的应用典范。通过引入折叠机制，本文巧妙地实现了不依赖外加控制器进行磁消旋和空间姿态机动的功能，大大提升了电路板卫星的姿态控制能力。 针对带有可摆动质量块的太阳帆航天器，本文首先通过理论分析定量比较了不同条件下多体内力矩效应和太阳光压力矩效应的强弱，然后建立最优控制问题，求解了当两种效应强度相近时，太阳帆姿态机动的时间最优解。 具有高度对称性的十字四叶型太阳帆是为了最大化利用内力矩效应进行调姿而专门提出的一种太阳帆构型。针对十字四叶型太阳帆的姿态机动问题，本文通过分析提出了两种姿态拼接的运动路径，相比传统的借助质心压心偏差产生光压力矩进行姿态调整的方式，这两种策略简洁高效，可以将太阳帆空间姿态机动的时间量级由小时缩短到分钟。
Spatial multi-body systems have configuration-attitude-coupled dynamics, which provides a new chance for attitude control, i.e. to achieve attitude maneuver by re-configuration without external torque equipment such as thrusts, momentum wheels, or magnetorquers. Based on the idea, in this thesis, we studied the attitude motion planning problem for four distinct classes of multi-body spacecrafts. For the two-body CubeSat structure we proposed a shape-based approach. By letting the three configuration angles move along a water-drop shaped curve with three undetermined parameters in the 3D configuration space, the spacecraft can always reach the targeted attitude. And the solution obtained via the shape-based approach is very close to the one obtained via the optimal control theory. The foldable PCBSat is the most typical application case of the internal-torque-induced attitude maneuver. Due to the mass and volume constraints, the attitude control capability of existing PCBSat is very weak. By involving a fold/unfold mechanism, without mounting any external torque generators, we managed to promote the attitude control ability of the PCBSat without compromising its lightness and smallness. The simulation results show the effectiveness of our design and strategies in de-spinning and attitude maneuvering. Solar sail with gimballed mass is one of the solar sail design that has been studied by researchers. By theoretic deductions we quantitatively compared the strengths of the internal torque effect and the SRP torque effect. Then by establishing an optimal control problem, we solved the time optimal solutions for solar sail attitude maneuver when the two effects are comparable. Last but not the least, Symmetric four-wing sail is a design that sufficiently demonstrates the advantages of internal torque effect in solar sail attitude maneuver. In the thesis, we proposed two different attitude maneuver strategies. With the two strategies, the time period of attitude maneuver shortens from hours to minutes, compared with traditional c.p.-m.p.-offset methods.
