CN101695961A - Executing agency normalized reachable set peak -based control allocation method - Google Patents
Executing agency normalized reachable set peak -based control allocation method Download PDFInfo
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Abstract
The invention discloses an executing agency normalized reachable set peak-based control allocation method, which belongs to the field of spacecraft control, and aims at solving the problem that the allocation control method of the traditional redundancy executing agency configuration scheme cannot achieve large allocating space, strong real-time calculating capability and small memory space occupation at the same time. The method of the invention comprises the following steps: 1, judging whether an executing agency has fault information, wherein if an executing agency has fault information, a step 2 is performed, or a step 3 is performed; 2, calculating and updating the reachable information of the executing agent offline; 3, normalizing an expected control quantity given by a system, and forming an expected unit torque point by intersecting with a reachable information unit ball; 4, determining n peaks of a normalized reachable enveloping surface adjacent to the expected unit torque point on said reachable information unit ball; 5, checking one by one to determine a reachable enveloping surface intersected with a ray in the direction of the expected unit torque; and 6, finishing calculating the control quantity of each executing agency according to the control quantity corresponding to the peaks of the reachable enveloping surface.
Description
Technical field
The present invention relates to a kind of Control Allocation method, belong to the Spacecraft Control field based on executing agency normalized reachable set peak.
Background technology
Modern small satellite develops towards the direction of high functional density, high reliability.For improving the reliability of satellite control system, actuating unit adopts back-up device usually.The working forms of traditional cold spare pattern is: backup mechanism is corresponding single main actuating mechanism directly, is done by its replacement worker of backup mechanism of correspondence when certain main actuating mechanism loses efficacy.The cold spare pattern can't effectively be utilized the executive capability of backup mechanism, and requires to run in the opposite direction with functional density.In order to overcome the shortcoming of cold spare mode of operation, the new design scheme is considered actuating unit is carried out redundant arrangement.Each actuating unit backups each other, and when the part body fault, residue mechanism can guarantee that still system has normal maneuverability.
Yet redundant actuating unit allocation plan also can face new problem, and is promptly not unique to the mapping relations of actuating mechanism controls instruction by the expectation controlling quantity.This just need introduce the Control Allocation link expectation controlling quantity is distributed at the inter-agency of redundancy in control system, the real output that make system are identical as far as possible with desired amount.This command assignment process by the Control Allocation method in real time, dynamically finish.Be specifically described referring to Fig. 1, on conventional satellite attitude closed loop control system basis, between control algorithm and actuating unit, increase dynamic Control Allocation link (being equivalent to the design of the control law in the traditional control system is split as control algorithm design and Control Allocation algorithm design two parts).At first, the Control Allocation link expectation torque command of being responsible for that control algorithm is sent is converted into the control command of each actuating unit.Control algorithm can more be absorbed in the design of control law and ignore the effect of constraint value of actuating unit this moment, and the Control Allocation link is responsible for the management and instruction of redundant actuating unit configuration specially and is shared out the work, both simplify design, strengthened the portability of control algorithm and Control Allocation algorithm again.Secondly, dynamically Control Allocation is adjusted allocation strategy in real time according to the failure message that fault diagnosis module provides, and need not change control algorithm and just can realize the quick isolation of fault actuating unit and the quick dynamic restructuring of system.Strengthened the robustness of system.
The various Control Allocation algorithms that are seen in document at present all cut both ways.Wherein, generalized inverse method (representative type such as pseudoinverse technique), chain type incremental method etc. have the speed of finding the solution fast, take the little advantage of storage space, yet error but can appear distributing in solving result, its allocation space is whole reachable sets of disposing of covering mechanism also; The allocation space of direct distribution method (original method) is consistent with the reachable set of configuration, but it carries out finding the solution way and may expending a large amount of online computing times of sequence search to the reachable set enveloping surface, thereby is difficult to be applied to real-time calculating; The various ways of finding the solution based on Optimization Model face the real-time difficult problem of calculating equally.For this reason, it is big that scholars try hard to explore a kind of allocation space, and the strong method for solving of real-time computing.But the new method that proposes or the narration complexity is difficult to reproduction, or take a large amount of storage spaces can not have both simultaneously that allocation space is big, real-time computing is strong, and takies the little advantage of storage space.
Summary of the invention
The Control Allocation method that the objective of the invention is to solve existing redundant actuating unit allocation plan can not have both simultaneously that allocation space is big, real-time computing is strong, and take the little problem of storage space, a kind of Control Allocation method based on executing agency normalized reachable set peak is provided.
The inventive method may further comprise the steps:
Judged result is for being, execution in step two, judged result be not for, execution in step three,
Reachable set information comprises the cooresponding saturated controlling quantity information in reachable set enveloping surface vertex information, reachable set message unit ball, reachable set enveloping surface information and reachable set enveloping surface summit of each actuating unit,
Obtain the reachable set enveloping surface summit of each actuating unit according to the configuration information of actuating unit, normalization method reachable set enveloping surface summit makes up reachable set message unit ball, obtains reachable set enveloping surface information, obtain the cooresponding saturated controlling quantity information in reachable set enveloping surface summit
Step 4, determine n the normalization method reachable set enveloping surface summit adjacent with specific torque point on described reachable set message unit ball, and then determine to comprise the reachable set enveloping surface on described n normalization method reachable set enveloping surface summit, wherein, n is a natural number, 6 〉=n 〉=2,
Step 5, the reachable set enveloping surface that searches of checking step four are one by one determined the reachable set enveloping surface that intersects with unit expectation moment direction ray,
Step 6, calculate the working control amount of actuating unit, finish the calculating of each actuating unit working control amount according to the cooresponding saturated controlling quantity in reachable set enveloping surface summit of the reachable set enveloping surface that intersects with unit expectation moment.
The method of the reachable set information of the calculated off-line actuating unit described in the step 2 may further comprise the steps:
Step a, determine position and the sensing of each actuating unit on celestial body, determine that matrix is renderd a service in the control of whole actuating unit configuration, the output domain of definition of the thrust of each actuating unit is [u
Min, u
Max] the single continuum of form, and any 3 actuating units coplane not, wherein, u
MinBe the minimum thrust of each actuating unit output, u
MaxBe the maximum thrust of each actuating unit output,
Step b, judge actuating unit quantity whether less than 10,
Judged result is for being, execution in step c, and judged result is not for, execution in step d,
Step c, the kernel of rendeing a service matrix based on actuating mechanism controls are sought the reachable set enveloping surface summit and the storage of whole actuating unit configuration, execution in step e then,
Steps d, the row space of rendeing a service matrix based on actuating mechanism controls are sought the reachable set enveloping surface summit and the storage of whole actuating unit configuration,
Step e, the reachable set enveloping surface summit that disposes according to whole actuating unit make up reachable set enveloping surface information and storage,
Step f, the saturated controlling quantity of determining each cooresponding each actuating unit in reachable set enveloping surface summit and storage,
Step g, normalization method reachable set enveloping surface summit make up reachable set message unit ball and storage.
The present invention with described Control Allocation method be divided into calculated off-line with at line computation two parts.Calculated off-line is moved when system initialization and system have detected the actuating unit fault, the main reachable set information of being responsible for making up the actuating unit configuration.For satisfying at the line computation needs, normalized need be carried out in all reachable set enveloping surface summits, and it all is normalized on the unit ball.In line computation is after system provides the expectation controlling quantity, calculates the control command of each actuating unit.
Calculated off-line mainly makes up the enveloping surface information of reachable set.Need canned data to have: reachable set enveloping surface summit, normalization method reachable set enveloping surface summit, the cooresponding controlling quantity of tetragonal four summit link informations and normalization method reachable set enveloping surface summit (the thrust command value of actuating unit).
Be responsible for after control algorithm provides the expectation controlling quantity, going out the control command of each actuating unit in line computation, make that the real output of actuating unit and expectation value are identical as far as possible according to the calculated off-line information calculations.
Advantage of the present invention: 1, in the calculated off-line, when the actuating unit number less than 10 the time, the kernel that utilizes control to render a service matrix is sought the summit of reachable set, than always utilizing row space searching reachable set summit to save part computing time in the existing algorithm;
2, in line computation, dwindle the search coverage of reachable set enveloping surface, only check and the adjoining face of expectation controlling quantity direction, effectively reduced calculated amount, thereby reduced online computing time, provide possibility for using in real time;
3, the reachable set information of actuating unit is finished by calculated off-line, just calls the reachable set information data of storage when not having failure message, and a large amount of operation time has been saved in often computing;
4, dynamically Control Allocation is adjusted allocation strategy in real time according to diagnotic failure message, has realized the quick isolation of fault actuating unit and the quick dynamic restructuring of system.
Description of drawings
Fig. 1 is the satellite attitude control system block diagram that background technology has the Control Allocation link, Fig. 2 is the inventive method diagram of circuit, Fig. 3 is the configuration configuration scheme drawing of thruster in the specific embodiment, Fig. 4 is the moment reachable set of specific embodiment thruster model, Fig. 5 is a normalization method moment reachable set, and Fig. 6 is a scheme drawing of judging that whether unit expectation moment direction intersects with the reachable set quadrangle.
The specific embodiment
The specific embodiment one: below in conjunction with Fig. 2 to Fig. 6 present embodiment is described, the present embodiment method may further comprise the steps:
Judged result is for being, execution in step two, judged result be not for, execution in step three,
Reachable set information comprises the cooresponding saturated controlling quantity information in reachable set enveloping surface vertex information, reachable set message unit ball, reachable set enveloping surface information and reachable set enveloping surface summit of each actuating unit,
Obtain the reachable set enveloping surface summit of each actuating unit according to the configuration information of actuating unit, normalization method reachable set enveloping surface summit makes up reachable set message unit ball, obtains reachable set enveloping surface information, obtain the cooresponding saturated controlling quantity information in reachable set enveloping surface summit
Step 4, determine n the normalization method reachable set enveloping surface summit adjacent with specific torque point on described reachable set message unit ball, and then determine to comprise the reachable set enveloping surface on described n normalization method reachable set enveloping surface summit, wherein, n is a natural number, 6 〉=n 〉=2,
On reachable set message unit ball, find 2～6 the normalization method reachable set enveloping surface summits the most contiguous with specific torque point, comprise the reachable set enveloping surface on any one summit in these reachable set enveloping surface summits and the possibility maximum that unit expectation moment direction ray intersects, so only need the reachable set enveloping surface that search contains these reachable set enveloping surface summits to get final product, can significantly reduce the scope of search.In algorithm application during to the configuration of other actuating unit, the value of n is decided according to the number of actuating unit and tetragonal size.Its fundamental principle is: when given any direction expectation moment, all can find in the search coverage that dwindles and quadrangle that unit expectation moment direction ray intersects, satisfy on the basis of this requirement, get the minimum value of neighbor point number.
Step 5, the reachable set enveloping surface that searches of checking step four are one by one determined the reachable set enveloping surface that intersects with unit expectation moment direction ray,
Step 6, calculate the working control amount of actuating unit, finish the calculating of each actuating unit working control amount according to the cooresponding saturated controlling quantity in reachable set enveloping surface summit of the reachable set enveloping surface that intersects with unit expectation moment.
The present invention with described Control Allocation method be divided into calculated off-line with at line computation two parts.
Calculated off-line is moved when system initialization and system have detected the actuating unit fault, the main reachable set information of being responsible for making up the actuating unit configuration.For satisfying at the line computation needs, normalized need be carried out in all reachable set enveloping surface summits, and it all is normalized on the unit ball.In line computation is after system provides the expectation controlling quantity, calculates the control command of each actuating unit, i.e. the working control amount of each actuating unit.
Calculated off-line mainly makes up the enveloping surface information of reachable set.Need canned data to have: reachable set enveloping surface summit, normalization method reachable set enveloping surface summit, the cooresponding controlling quantity of tetragonal four summit link informations and normalization method reachable set enveloping surface summit (the thrust command value of actuating unit).
Be responsible for after control algorithm provides the expectation controlling quantity, going out the control command of each actuating unit in line computation, make that the real output of actuating unit and expectation value are identical as far as possible according to the calculated off-line information calculations.
The method of the reachable set information of the calculated off-line actuating unit described in the step 2 may further comprise the steps:
Step a, determine position and the sensing of each actuating unit on celestial body, determine that matrix is renderd a service in the control of whole actuating unit configuration, the output domain of definition of the thrust of each actuating unit is [u
Min, u
Max] the single continuum of form, and any 3 actuating units coplane not, wherein, u
MinBe the minimum thrust of each actuating unit output, u
MaxBe the maximum thrust of each actuating unit output,
Step b, judge actuating unit quantity whether less than 10,
Judged result is for being, execution in step c, and judged result is not for, execution in step d,
Step c, the kernel of rendeing a service matrix based on actuating mechanism controls are sought the reachable set enveloping surface summit and the storage of whole actuating unit configuration, execution in step e then,
Steps d, the row space of rendeing a service matrix based on actuating mechanism controls are sought the reachable set enveloping surface summit and the storage of whole actuating unit configuration,
Step e, the reachable set enveloping surface summit that disposes according to whole actuating unit make up reachable set enveloping surface information and storage,
Step f, the saturated controlling quantity of determining each cooresponding each actuating unit in reachable set enveloping surface summit and storage,
Step g, normalization method reachable set enveloping surface summit make up reachable set message unit ball and storage.Provide a specific embodiment below, referring to shown in Figure 3,8 thrusters are fixed in the satelloid system of axes, the thrust output domain of definition of single thruster is [0,1] N, and any 3 thrusters coplane not in the configuration satisfy the application constraint condition of algorithm described in the literary composition.In the present embodiment, n gets 3 and can meet the demands.
Calculated off-line is at first sought the reachable set summit.Here the actuating unit number is 8, so the kernel that utilizes control to render a service matrix is sought the reachable set summit.The reachable set enveloping surface as shown in Figure 4.After finding all reachable set enveloping surface summits, it is carried out normalized.Be about to all summits and advance normalisation, it is all dropped on the reachable set unit ball, form normalization method reachable set enveloping surface summit.After the normalization method, the annexation between each summit is constant.Normalized reachable set enveloping surface as shown in Figure 5.The purpose of this step is to be convenient to given expectation moment of system and summit comparison, thereby in all parallelogram of reachable set enveloping surface, find with expect that moment intersects that, when avoiding little expectation moment, mistake will be included in the search coverage after dwindling near the quadrangle of initial point and (run counter to if little expectation moment is pointed to point to tetragonal summit again, can't find crossing with it quadrangle at this moment).
Step 5 is determined to expect that with unit the method for the reachable set enveloping surface that the moment direction intersects is:
Referring to shown in Figure 6, search comprises the reachable set enveloping surface on described n normalization method reachable set enveloping surface summit in the reachable set enveloping surface information of the actuating unit of storing, verify successively whether each reachable set enveloping surface that searches expects that with unit the moment direction intersects, and satisfies relational expression aa
d=a
Di+ b (a
Dj-a
Di)+c (a
Dk-a
Di) the reachable set enveloping surface that the reachable set enveloping surface is and unit expectation moment direction intersects,
Any 3 actuating units coplane not in the configuration of whole actuating unit, then each reachable set enveloping surface is parallelogram,
Wherein, a
dBe unit expectation moment, a
Di, a
DjAnd a
DkBe respectively wantonly three in four summits of the tetragonal reachable set enveloping surface of flat shape, and a
DjAnd a
DkBe a
DiNeighbouring vertices, a, b and c are coefficient, and a＞0,1＞b＞0,1＞c＞0.
Concrete method of calculating about the working control amount of each actuating unit in the step 6 is:
Judged result is for being, execution in step 3, judged result be not for, execution in step 4,
The controlling quantity of step 3, actuating unit output is u=[u
Di+ b (u
Dj-u
Di)+c (u
Dk-u
Di)]/a, Control Allocation is finished, and a 〉=1 unit of representative expectation moment is positioned at reachable set,
The controlling quantity of step 4, actuating unit output is u=[u
Di+ b (u
Dj-u
Di)+c (u
Dk-u
Di)], Control Allocation is finished, and 0＜a＜1 unit of representative expectation moment is positioned at outside the reachable set.
Claims (4)
1. Control Allocation method based on executing agency normalized reachable set peak is characterized in that this method may further comprise the steps:
Step 1, judge whether actuating unit has failure message,
Judged result is for being, execution in step two, judged result be not for, execution in step three,
Step 2, calculated off-line are also upgraded the reachable set information of actuating unit,
Reachable set information comprises the cooresponding saturated controlling quantity information in reachable set enveloping surface vertex information, reachable set message unit ball, reachable set enveloping surface information and reachable set enveloping surface summit of each actuating unit,
Obtain the reachable set enveloping surface summit of each actuating unit according to the configuration information of actuating unit, normalization method reachable set enveloping surface summit makes up reachable set message unit ball, obtains reachable set enveloping surface information, obtain the cooresponding saturated controlling quantity information in reachable set enveloping surface summit
Step 3, expectation controlling quantity normalized that system is given, form unit expectation moment, described unit expectation moment and reachable set message unit ball intersect formation unit expectation Moment Point, a kind of data in the reachable set information that described reachable set message unit ball is an actuating unit
Step 4, on described reachable set message unit ball, determine n adjacent normalization method reachable set enveloping surface summit of expectation Moment Point with unit, and then determine to comprise the reachable set enveloping surface on described n normalization method reachable set enveloping surface summit, wherein, n is a natural number, 6 〉=n 〉=2
Step 5, the reachable set enveloping surface that searches of checking step four are one by one determined the reachable set enveloping surface that intersects with unit expectation moment direction ray,
Step 6, calculate the working control amount of actuating unit, finish the calculating of each actuating unit working control amount according to the cooresponding saturated controlling quantity in reachable set enveloping surface summit of the reachable set enveloping surface that intersects with unit expectation moment.
2. a kind of Control Allocation method based on executing agency normalized reachable set peak according to claim 1 is characterized in that the method for the reachable set information of the described calculated off-line actuating unit of step 2 may further comprise the steps:
Step a, determine position and the sensing of each actuating unit on celestial body, determine that matrix is renderd a service in the control of whole actuating unit configuration, the output domain of definition of the thrust of each actuating unit is [u
Min, u
Max] the single continuum of form, and any 3 actuating units coplane not, wherein, u
MinBe the minimum thrust of each actuating unit output, u
MaxBe the maximum thrust of each actuating unit output,
Step b, judge actuating unit quantity whether less than 10,
Judged result is for being, execution in step c, and judged result is not for, execution in step d,
Step c, the kernel of rendeing a service matrix based on actuating mechanism controls are sought the reachable set enveloping surface summit and the storage of whole actuating unit configuration, execution in step e then,
Steps d, the row space of rendeing a service matrix based on actuating mechanism controls are sought the reachable set enveloping surface summit and the storage of whole actuating unit configuration,
Step e, the reachable set enveloping surface summit that disposes according to whole actuating unit make up reachable set enveloping surface information and storage,
Step f, the saturated controlling quantity of determining each cooresponding each actuating unit in reachable set enveloping surface summit and storage,
Step g, normalization method reachable set enveloping surface summit make up reachable set message unit ball and storage.
3. a kind of Control Allocation method based on executing agency normalized reachable set peak according to claim 1 is characterized in that, step 5 is determined to expect that with unit the method for the reachable set enveloping surface that moment direction ray intersects is:
Search comprises the reachable set enveloping surface on described n normalization method reachable set enveloping surface summit in the reachable set enveloping surface information of the actuating unit of storing, and verifies successively whether each reachable set enveloping surface that searches expects that with unit the moment direction intersects, and satisfies relational expression aa
d=a
Di+ b (a
Dj-a
Di)+c (a
Dk-a
Di) the reachable set enveloping surface that the reachable set enveloping surface is and unit expectation moment direction intersects,
Any 3 actuating units coplane not in the configuration of whole actuating unit, then each reachable set enveloping surface is parallelogram,
Wherein, a
dBe unit expectation moment, a
Di, a
DjAnd a
DkBe respectively wantonly three in four summits of the tetragonal reachable set enveloping surface of flat shape, and a
DjAnd a
DkBe a
DiNeighbouring vertices, a, b and c are coefficient, and a＞0,1＞b＞0,1＞c＞0.
4. the Control Allocation method of the actuating unit based on agency normalized reachable set peak according to claim 1 is characterized in that, the method that step 6 is calculated the working control amount of actuating unit is:
Step 1, in the data of the reachable set information storage of actuating unit, find three summit a in the reachable set enveloping surface that intersects with unit expectation moment direction ray
Di, a
DjAnd a
DkCooresponding controlling quantity u
Di, u
DjAnd u
Dk,
Step 2, a 〉=1 that judges whether to satisfy condition,
Judged result is for being, execution in step 3, judged result be not for, execution in step 4,
The controlling quantity of step 3, actuating unit output is u=[u
Di+ b (u
Dj-u
Di)+c (u
Dk-u
Di)]/a, Control Allocation is finished,
The controlling quantity of step 4, actuating unit output is u=[u
Di+ b (u
Dj-u
Di)+c (u
Dk-u
Di)], Control Allocation is finished.
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| CN102582849A (en) * | 2012-03-17 | 2012-07-18 | 西北工业大学 | Space intersection control method of two-stage constant thrust |
| CN108415240A (en) * | 2018-02-09 | 2018-08-17 | 北京理工大学 | It is a kind of that drive system control distribution method is crossed based on geometric intuition structure reachable set |
| CN108415239A (en) * | 2018-02-09 | 2018-08-17 | 北京理工大学 | It is a kind of that distribution method is directly controlled based on dynamic construction reachable set |
| CN108445783A (en) * | 2018-02-09 | 2018-08-24 | 北京理工大学 | It is a kind of that drive system control method is crossed based on heuristic search |
| CN110989365A (en) * | 2019-12-31 | 2020-04-10 | 山东交通学院 | Determination method for control reachable set of overdrive system under multi-pair linear constraint control component |
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| CN102582849A (en) * | 2012-03-17 | 2012-07-18 | 西北工业大学 | Space intersection control method of two-stage constant thrust |
| CN102582849B (en) * | 2012-03-17 | 2013-11-27 | 西北工业大学 | Space intersection control method of two-stage constant thrust |
| CN108415240B (en) * | 2018-02-09 | 2020-08-11 | 北京理工大学 | Over-drive system control distribution method based on geometric visual construction of reachable set |
| CN108415239A (en) * | 2018-02-09 | 2018-08-17 | 北京理工大学 | It is a kind of that distribution method is directly controlled based on dynamic construction reachable set |
| CN108445783A (en) * | 2018-02-09 | 2018-08-24 | 北京理工大学 | It is a kind of that drive system control method is crossed based on heuristic search |
| CN108415239B (en) * | 2018-02-09 | 2020-08-11 | 北京理工大学 | Direct control distribution method based on dynamic construction of reachable set |
| CN108415240A (en) * | 2018-02-09 | 2018-08-17 | 北京理工大学 | It is a kind of that drive system control distribution method is crossed based on geometric intuition structure reachable set |
| CN110989365A (en) * | 2019-12-31 | 2020-04-10 | 山东交通学院 | Determination method for control reachable set of overdrive system under multi-pair linear constraint control component |
| CN111045420A (en) * | 2019-12-31 | 2020-04-21 | 山东交通学院 | Determination method for control reachable set of overdrive system under pair of linear constraint control components |
| CN111045420B (en) * | 2019-12-31 | 2022-01-18 | 山东交通学院 | Determination method for control reachable set of overdrive system under pair of linear constraint control components |
| CN110989365B (en) * | 2019-12-31 | 2022-03-01 | 山东交通学院 | Determination method for control reachable set of overdrive system under multi-pair linear constraint control component |
| CN111232248A (en) * | 2020-02-14 | 2020-06-05 | 哈尔滨工业大学 | Attitude and orbit integrated control method based on pulse width modulation of orbit control thruster |
| CN111232248B (en) * | 2020-02-14 | 2021-07-27 | 哈尔滨工业大学 | Attitude and orbit integrated control method based on pulse width modulation of orbit control thruster |
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