Abstract: The control force borne by each single satellite in the process of attitude maneuver of assembled spacecraft is uneven. In this paper, the interaction model between the assembled spacecrafts was established to analyze the relationships between internal forces,internal torque and attitude,control torques respectively based on the theory of multi-body dynamics. The distribution of internal torques under extreme conditions was simulated, which may exceed the bearing range of torque of common docking mechanism. The particle swarm optimization （PSO） algorithm was used to optimize the distribution of control torques, and the convergence rate of PSO algorithm was speeded up by default initial values and inheritance initial values. Real-time adjustment of control torque distribution reduced the interaction between satellites and realized the intelligent cooperative control of assembled combination, to ensure that the connection hinge of assembled spacecraft would not be damaged due to excessive force. The simulation of the algorithm and the verification analysis of Adams software show that the interaction model established in this paper can accurately calculate the inter-star interaction force, and the proposed intelligent cooperative attitude control algorithm can significantly reduce the interstar internal force in the process of attitude control, ensuring the safety of the assembled spacecraft.

Key words: assembled spacecraft, cooperative attitude control, multibody dynamics, PSO algorithm, internal force module