CN108628330A - A kind of spacecraft amplitude limit Adaptive Attitude collaboration fault tolerant control method - Google Patents

A kind of spacecraft amplitude limit Adaptive Attitude collaboration fault tolerant control method Download PDF

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CN108628330A
CN108628330A CN201810434956.0A CN201810434956A CN108628330A CN 108628330 A CN108628330 A CN 108628330A CN 201810434956 A CN201810434956 A CN 201810434956A CN 108628330 A CN108628330 A CN 108628330A
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spacecraft
amplitude limit
fault
attitude
controller
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郭毓
朱志浩
朱锐
虞文杰
王璐
郭健
吴益飞
陈庆伟
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Nanjing University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/244—Spacecraft control systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

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Abstract

The present invention relates to a kind of spacecraft amplitude limit Adaptive Attitudes to cooperate with fault tolerant control method, belongs to more technical field of spacecraft formation flight；Spacecraft malfunction is handled using redundancy fault-tolerant algorithm, control moment saturated controller carries out torque amplitude limit, adaptive algorithm control item is to inertia variation and external interference compensates and Fast Convergent control algolithm makes posture fast synergistic scheduling algorithm, propose a kind of spacecraft amplitude limit Adaptive Attitude collaboration fault tolerant control method.The present invention is more perfect to the consideration that the variation of torque actuator failure, torque amplitude limit, external interference and inertia is uncertain, and spacecraft collaboration tracking error system can be made quickly to restrain, further improve the robustness and practicability of control system.

Description

A kind of spacecraft amplitude limit Adaptive Attitude collaboration fault tolerant control method
Technical field
The invention belongs to more technical field of spacecraft formation flight, especially a kind of spacecraft amplitude limit Adaptive Attitude collaboration Fault tolerant control method.
Background technology
With space mission diversification, the traditional working mode to be fulfilled the task all by oneself by single spacecraft can no longer meet The demand of Practical Project, in this context, more Spacecraft Formation Flyings, which are studied, to be rapidly developed, and the heat of Recent study is become One of point.
So-called more Spacecraft formations refer to relatively close and with interactive cooperation relationship spacecraft group by two or more distances At work system.It realizes that information is transmitted and carries out posture collaboration by sensor surveying unit between adjacent body in formation to control System, to reach space exploration and maintenance task.Multiple small-sized Spacecraft formations solve suffered by traditional single spacecraft effectively Constraint in terms of the physical properties such as load volume and quality improves the reconfigurability and robustness of total system.Multiple spacecrafts Posture collaboration be Spacecraft Formation Flying control important feature.
As the mankind deepen continuously what space industry was studied, more and more great space missions are put to engineering reality It tramples, still, due to the special running environment of spacecraft and complicated structure, can inevitably break down sometimes, finally so that task Failure causes serious loss and influence to society and politics, economy or even military affairs etc., people be increasingly recognized that reliability and Importance of the troubleshooting for spacecraft.In addition, spacecraft can be by perturbed force caused by gravity gradient and solar radiation etc. Square, and due to the influence that fuel consumption and solar energy sailboard rotate, cause the inertia of spacecraft to change constantly and change Degree is unknown, and at the same time, the executing agency of spacecraft is constrained by the physical characteristic of itself, and output torque, which is unlikely to be, appoints It anticipates required control force, there are torque amplitude limits.Based on the above situation, there is an urgent need to a kind of collaborations of amplitude limit Adaptive Attitude at present Fault tolerant control method can consider actuator failure, torque amplitude limit, disturbance torque and inertia variation to Spacecraft Control simultaneously The influence of performance increases the robustness of posture cooperative system.
Invention content
Considering actuator failure, torque amplitude limit, disturbance torque and inertia simultaneously the purpose of the present invention is to provide a kind of The spacecraft amplitude limit Adaptive Attitude of variation cooperates with fault tolerant control method.
Realize that the technical solution of the object of the invention is：A kind of spacecraft amplitude limit Adaptive Attitude collaboration faults-tolerant control side Method includes the following steps：
Spacecraft and 1 leader's spacecraft are followed comprising n in step 1, formation, is research pair with rigid body spacecraft As establishing its quaternary number attitude kinematics and kinetics equation；
Step 2 establishes attitude kinematics and dynamics tracking error between follower and leader according to coordinate transform Equation；
Step 3, the Communication topology that Spacecraft formation system is described with algebraic graph theory；The communication of Spacecraft formation system Topological structure includes a directed spanning tree and leader is root node, by oriented communication topological diagram communication strategy, be can be obtained The posture and angular velocity information of the adjacent spacecraft of each spacecraft communication；
Step 4, error auxiliary variable is defined；
Step 5, according to the posture and angular speed status information of auxiliary variable in step 4 and the adjacent spacecraft of acquisition, Design fault-tolerant consistency algorithm controller；
Step 6, according to oneself state information and the status information of the adjacent spacecraft of acquisition, design AF panel and used Amount variation compensating controller；
Step 7, design Fast Convergent controller；
Step 8, design Adaptive Attitude cooperate with fault-tolerant controller；
Step 9 designs amplitude limit Adaptive Attitude collaboration fault-tolerant controller, and Adaptive Attitude collaboration is fault-tolerant in judgment step 8 Whether controller reaches amplitude, if reaching saturation, controller generates torque saturation value, if do not reached, controller generates The control moment less than amplitude needed for posture cotasking.
Compared with prior art, the present invention its remarkable advantage is：(1) entirely ineffective to part executing agency or decline failure With robustness；(2) not to it is unknown when Variable inertia individually estimated that controller architecture is simple, be easy to Project Realization；(3) no Need any priori of inertia and environmental disturbances, such as the nominal value of inertia and the upper dividing value of interference；(4) Fast Convergent controls The more conventional controller of device can be such that error system more Fast Convergent stablizes；(5) leader's trajectory path is time-varying, is not a certain Static position, but it is adapted to the case where path is fixed point.
Description of the drawings
Fig. 1 is that the amplitude limit Adaptive Attitude of the present invention cooperates with fault tolerant control method schematic diagram.
Fig. 2 is the communication topological diagram between formation spacecrafts in the specific embodiment of the invention.
Fig. 3 is that the posture of spacecraft 1 and angular speed is followed to cooperate with tracking error figure in embodiment.
Fig. 4 is that the posture of spacecraft 2 and angular speed is followed to cooperate with tracking error figure in embodiment.
Fig. 5 is that the posture of spacecraft 3 and angular speed is followed to cooperate with tracking error figure in embodiment.
Fig. 6 is that the posture of spacecraft 4 and angular speed is followed to cooperate with tracking error figure in embodiment.
Fig. 7 is the control moment curve graph that spacecraft 1 is followed in embodiment.
Fig. 8 is the control moment curve graph that spacecraft 2 is followed in embodiment.
Fig. 9 is the control moment curve graph that spacecraft 3 is followed in embodiment.
Figure 10 is the control moment curve graph that spacecraft 4 is followed in embodiment.
Specific implementation mode
In conjunction with Fig. 1, a kind of spacecraft amplitude limit Adaptive Attitude of the invention cooperates with fault tolerant control method, including following step Suddenly：
Spacecraft and 1 leader's spacecraft are followed comprising n in step 1, formation, is research pair with rigid body spacecraft As establishing its quaternary number attitude kinematics and kinetics equation being as follows：
Wherein,It is posture unit quaternion vector, ωi∈R3Indicate that spacecraft body coordinate system is relatively used Coordinate system angular velocity vector is measured, represents the derivative of variable, i.e.,It is the derivative of attitude quaternion and angular speed respectively,× Indicate skew symmetric matrix meaning, i.e.,It is ωi=[ωi1,ωi2,ωi3]TSkew symmetric matrixJi ∈R3×3It is spacecraft inertia matrix, Γi∈R3×σIt is moment distribution matrix, Mi=diag { μi1,μi2,…,μiσ}∈Rσ×σIt is power Square active matrix, μiσ=1 indicates that control moment is normal, μiσ=0 indicates that control moment is entirely ineffective, 0≤μiσ≤ 1 indicates torque Start degradation, τi∈RσAnd τid∈R3The control moment of spacecraft and external BOUNDED DISTURBANCES torque are indicated respectively, and σ ＞ 3, σ are The quantity of torque executing agency, i=0,1 ..., n, i=0 indicate that leader's spacecraft, others are follower；
Step 2 establishes attitude kinematics and dynamics error equation between follower and leader according to coordinate transform It is as follows:
Wherein,WithIt is attitude quaternion error, ωie=ωi-Niω0It is angle speed Degree error, i=1,2 ..., n,It is coordinate spin matrix；
Step 3, the Communication topology that Spacecraft formation system is described with algebraic graph theory, to reduce communication path and avoiding The wasting of resources, the present invention use the traffic it is less include that a directed spanning tree and leader open up for the oriented communication of root node Flutter structure, setting leader information can the person of being followed obtain, aijIt is adjacency matrix element, if there is logical from spacecraft j to i Letter, aij＞ 0；On the contrary, aij=0；bi=ai0For leader's adjacency matrix element；
By oriented communication topological diagram communication strategy, the appearance of the adjacent spacecraft of each communication can be obtained by sensor for spacecraft StateWith angular velocity information ωj∈R3；
Step 4 defines error auxiliary variable Si=β qie+ωie,In formula, β ＞ 0,And meetφi=1+ | | ωi||+||ωi||2；
Step 5 is believed according to states such as the postures and angular speed of auxiliary variable in step 4 and the adjacent spacecraft of acquisition Breath, designs fault-tolerant consistency algorithm controllerIn formula, parameter ki＞ 0；
Step 6, according to oneself state information and the status information of the adjacent spacecraft of acquisition, design AF panel and used Amount variation compensating controllerWherein, parameterIt is ciEstimated value, φi=1+ | | ωi||+||ωi||2, βi3 ＞ 0；
Step 7, design Fast Convergent controllerSig in formulaα(Si)=[sign (Si1)|Si1 |α,sign(Si2)|Si2|α,sign(Si3)|Si3|α]T, SixIndicate SiX-th of element, 0 ＜ α=α1/α2＜ 1, α1And α2It is mutual The positive odd number of matter, ki1＞ 0, sign () are sign function,
Step 8, design Adaptive Attitude collaboration fault-tolerant controller are
Step 9 designs amplitude limit Adaptive Attitude collaboration fault-tolerant controller, and Adaptive Attitude collaboration is fault-tolerant in judgment step 8 Whether controller reaches amplitude, if reachedτimax=diag (τi1max,τi2max,…,τiσmax), If not reaching saturation valueThat is, controller is
J indicates j-th of torque executing agency of any one spacecraft, k in formulai＞ 0, βi1＞ 0, βi2＞ 0 and βi4＞ 0.
Further detailed description is done to the present invention with reference to embodiment：
Embodiment
Follow the fleet system that spacecraft and 1 leader are constituted as research object, design parameter by 4 using one It is as follows：
1. spacecraft inertia matrix of table and initial attitude
Leader track：ω0=[0.1sin (0.2t), 0.1cos (0.2t), 0.1cos (0.5t)]T, q0And q00It can pass through Kinematical equation (1) obtains.Executing agency's sum σ=6, torque amplitude limit are τ1max=[4,4,5,5,6,6]TNm, τ2max=[7, 7,8,8,5,5]TNm, τ3max=[8,8,5,5,6,6]TNm, τ4max=[6,6,4,4,5,5]TNm.External disturbance τid=(0.5+ | |ωi||2)[0.02sin(t),0.05cos(t),0.03cos(t)]T, i=1,2,3,4.Controller parameter is k1=k2=k3= k4=15, k11=k21=k31=k41=2, α=1/3, β=1, β11=β21=β31=β41=0.01, β14=β24=β34=β44 =0.1, β12=80, β32=50, β22=β42=100.
Choose moment distribution matrixTorque active matrix is
First, Spacecraft formation system model, simulation time 20s are built in MATLAB/Simulink.
Fig. 2 gives a kind of oriented communication topology, including 4 follow spacecraft and 1 leader.The posture of spacecraft and Angular speed cooperates with tracking error curve as shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, it can be seen that follower realizes from error curve diagram Quick tracking to leader's spacecraft with time-varying reference locus is seen from error enlarged drawing (embedded figure) to find out error Precision reaches 10-4The order of magnitude.
Fig. 7, Fig. 8, Fig. 9, Figure 10 give the control moment curve graph of spacecraft 1,2,3,4, it can be seen that are entirely navigating During its device cooperates with fault-tolerant tracking, there is torque clipping situation early period in tracking, in addition, can be seen that from torque active matrix As time t ＞ 12s, M1(2)、M2(4)、M3(5)、M4(6) it is 0, indicates the 2nd torque executing agency, space flight of spacecraft 1 4th torque executing agency of device 2, the 5th torque executing agency of spacecraft 3, spacecraft 4 the 6th torque executing agency There is entirely ineffective failure, similarly, as time t ＞ 13s, M1(4)、M2(2)、M3(1)、M4(2) it is 0, indicates spacecraft 1 1st torque executing agency, space flight of the 4th torque executing agency, the 2nd torque executing agency of spacecraft 2, spacecraft 3 There is entirely ineffective failure in 2nd torque executing agency of device 4；There is different degrees of degradation event in remaining executing agency Barrier.
By above-described embodiment, the perfect amplitude limit Adaptive Attitude collaboration tracking faults-tolerant control strategy of the present invention can be verified, By rational moment distribution, redundant fault-tolerant control method is realized, meanwhile, design adaptive law compensates for inertia variation and interference Influence, and can make spacecraft collaboration tracking error system quickly restrain, further improve the robustness of control system And practicability.

Claims (10)

1. a kind of spacecraft amplitude limit Adaptive Attitude cooperates with fault tolerant control method, which is characterized in that include the following steps：
Spacecraft and 1 leader's spacecraft is followed to be built using rigid body spacecraft as research object comprising n in step 1, formation Found its quaternary number attitude kinematics and kinetics equation；
Step 2 establishes attitude kinematics and dynamics tracking error equation between follower and leader according to coordinate transform；
Step 3, the Communication topology that Spacecraft formation system is described with algebraic graph theory；The communication topology of Spacecraft formation system Structure includes a directed spanning tree and leader is that each boat can be obtained by oriented communication topological diagram communication strategy in root node Its device communicates the posture and angular velocity information of adjacent spacecraft；
Step 4, error auxiliary variable is defined；
Step 5, according to the posture and angular speed status information of auxiliary variable in step 4 and the adjacent spacecraft of acquisition, design Fault-tolerant consistency algorithm controller；
Step 6 becomes according to oneself state information and the status information of the adjacent spacecraft of acquisition, design AF panel and inertia Change compensating controller；
Step 7, design Fast Convergent controller；
Step 8, design Adaptive Attitude cooperate with fault-tolerant controller；
Step 9 designs amplitude limit Adaptive Attitude collaboration fault-tolerant controller, and Adaptive Attitude cooperates with faults-tolerant control in judgment step 8 Whether device reaches amplitude, if reaching saturation, controller generates torque saturation value, if do not reached, controller generates posture The control moment less than amplitude needed for cotasking.
2. spacecraft amplitude limit Adaptive Attitude according to claim 1 cooperates with fault tolerant control method, which is characterized in that step The 1 quaternary number attitude kinematics established and kinetics equation are as follows：
Wherein,It is posture unit quaternion vector, ωi∈R3Indicate that spacecraft body coordinate system is sat with respect to inertia Mark system angular velocity vector, represents the derivative of variable, i.e.,It is the derivative of attitude quaternion and angular speed respectively, × indicate Skew symmetric matrix meaning, i.e.,It is ωi=[ωi1,ωi2,ωi3]TSkew symmetric matrixI is indicated Unit matrix, Ji∈R3×3It is spacecraft inertia matrix, Γi∈R3×σIt is moment distribution matrix, Mi=diag { μi1,μi2,…, μiσ}∈Rσ×σIt is torque active matrix, μiσ=1 indicates that control moment is normal, μiσ=0 indicates that control moment is entirely ineffective, 0≤ μiσ≤ 1 expression torque starts degradation, τi∈ R σ and τid∈R3Indicate that control moment and the external bounded of spacecraft are dry respectively Disturb torque, σ is the quantity of torque executing agency, σ ＞ 3, i=0,1 ..., n, and i=0 indicates leader's spacecraft, others for With person.
3. spacecraft amplitude limit Adaptive Attitude according to claim 2 cooperates with fault tolerant control method, which is characterized in that step Attitude kinematics and dynamics error equation are as follows in 2:
Wherein,WithIt is attitude quaternion error, ωie=ωi-Niω0It is that angular speed misses Difference, i=1,2 ..., n,It is coordinate spin matrix.
4. spacecraft amplitude limit Adaptive Attitude according to claim 3 cooperates with fault tolerant control method, which is characterized in that step 3 are specially：
The Communication topology of Spacecraft formation system is described with algebraic graph theory, communication topology includes a directed spanning tree, and Virtual leader is root node, setting leader information can the person of being followed obtain, aijIt is adjacency matrix element, if there is from boat The communication of its device j to i, aij＞ 0；On the contrary, aij=0；bi=ai0For leader's adjacency matrix element；
By oriented communication topological diagram communication strategy, the posture of the adjacent spacecraft of each communication can be obtained by sensor for spacecraftWith angular velocity information ωj∈R3。
5. spacecraft amplitude limit Adaptive Attitude according to claim 4 cooperates with fault tolerant control method, which is characterized in that step 4 are specially：Define error auxiliary variable Si=β qie+ωie,In formula, β ＞ 0,And meetφi=1+ ||ωi||+||ωi||2。
6. spacecraft amplitude limit Adaptive Attitude according to claim 5 cooperates with fault tolerant control method, which is characterized in that step 5 are specially：The status informations such as posture and angular speed according to auxiliary variable in step 4 and the adjacent spacecraft of acquisition, design Fault-tolerant consistency algorithm controllerIn formula, parameter ki＞ 0.
7. spacecraft amplitude limit Adaptive Attitude according to claim 6 cooperates with fault tolerant control method, which is characterized in that step 6 are specially：According to oneself state information and the status information of the adjacent spacecraft of acquisition, AF panel and inertia variation are designed Compensating controllerWherein, parameterIt is ciEstimated value, φi=1+ | | ωi||+||ωi||2, βi3＞ 0.
8. spacecraft amplitude limit Adaptive Attitude according to claim 7 cooperates with fault tolerant control method, which is characterized in that step 7 are specially：Design Fast Convergent controllerSig in formulaα(Si)=[sign (Si1)|Si1|α,sign (Si2)|Si2|α,sign(Si3)|Si3|α]T, SixIndicate SiX-th of element, 0 ＜ α=α1/α2＜ 1, α1And α2Be it is relatively prime just Odd number, ki1＞ 0, sign () are sign function,
9. spacecraft amplitude limit Adaptive Attitude according to claim 8 cooperates with fault tolerant control method, which is characterized in that step Adaptive Attitude collaboration fault-tolerant controller is designed in 8 is
10. spacecraft amplitude limit Adaptive Attitude according to claim 9 cooperates with fault tolerant control method, which is characterized in that step Rapid 9 are specially：
Amplitude limit Adaptive Attitude collaboration fault-tolerant controller is designed, whether Adaptive Attitude cooperates with fault-tolerant controller in judgment step 9 Reach amplitude, if reachedτimax=diag (τi1max,τi2max,…,τiσmax), if do not reached Saturation valueThat is, controller is
J indicates j-th of torque executing agency of any one spacecraft, k in formulai＞ 0, βi1＞ 0, βi2＞ 0 and βi4＞ 0.
CN201810434956.0A 2018-05-09 2018-05-09 A kind of spacecraft amplitude limit Adaptive Attitude collaboration fault tolerant control method Pending CN108628330A (en)

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CN111352433A (en) * 2018-12-20 2020-06-30 中国科学院沈阳自动化研究所 Fault diagnosis method for horizontal attitude angle of unmanned aerial vehicle
CN111352433B (en) * 2018-12-20 2021-04-06 中国科学院沈阳自动化研究所 Fault diagnosis method for horizontal attitude angle of unmanned aerial vehicle
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CN111456856A (en) * 2020-04-04 2020-07-28 西北工业大学 Robust controller for reducing conservative maximum thrust state of aero-engine
CN111806728A (en) * 2020-06-04 2020-10-23 南京邮电大学 Spacecraft multi-agent attitude synchronization fault-tolerant control method with actuator saturation
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CN112462684A (en) * 2020-06-16 2021-03-09 宁波智能装备研究院有限公司 Contour tracking and bilateral synchronous cooperative control method and system for gantry platform
CN112462684B (en) * 2020-06-16 2021-10-01 宁波智能装备研究院有限公司 Contour tracking and bilateral synchronous cooperative control method and system for gantry platform
CN111752292A (en) * 2020-07-03 2020-10-09 盐城工学院 Attitude cooperative tracking control method of distributed spacecraft
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Application publication date: 20181009