CN108628331A - A kind of spacecraft attitude control method of Spatial Countermeasure environment lower sensor under fire - Google Patents

A kind of spacecraft attitude control method of Spatial Countermeasure environment lower sensor under fire Download PDF

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CN108628331A
CN108628331A CN201810436189.7A CN201810436189A CN108628331A CN 108628331 A CN108628331 A CN 108628331A CN 201810436189 A CN201810436189 A CN 201810436189A CN 108628331 A CN108628331 A CN 108628331A
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attack
sensor
attitude control
external environment
spacecraft attitude
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乔建忠
谷亚培
郭雷
李文硕
朱玉凯
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Beihang University
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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
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • 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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  • Artificial Intelligence (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
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  • Health & Medical Sciences (AREA)
  • Evolutionary Computation (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present invention relates to a kind of spacecraft attitude control method of Spatial Countermeasure environment lower sensor under fire, for the gesture stability problem that spacecraft sensor under complex space environment is under attack, first, the spacecraft attitude control system model containing sensor attack and external environment interference is established；Secondly, in the case where not considering sensor attack, interference observer is designed, the external environment interference that system is subject to is estimated；Again, it is based on external environment interference estimate, output filter is designed and Unknown worm learns observer, the signal to attack in sensor information is estimated；Finally, in conjunction with signal to attack estimated value and external environment interference estimate, composite controller is designed, constructs a kind of spacecraft attitude control method of Spatial Countermeasure environment lower sensor under fire.The present invention has the characteristics that anti-interference is high, reliability is high, engineering practicability is strong, the high-precision of spacecraft attitude control system, highly reliable control in the case of being suitable for sensor information under fire.

Description

A kind of spacecraft attitude control method of Spatial Countermeasure environment lower sensor under fire
Technical field
The present invention relates to a kind of spacecraft attitude control method of Spatial Countermeasure environment lower sensor under fire, may be implemented to sense Device is attacked estimation while interference with external environment and is offset, and spacecraft sensor under fire feelings are can be used under complex space environment Spacecraft begs for high-precision, the High-reliability Control of control system certainly under condition.
Background technology
With the rapid development of space militarization, outer space is increasingly becoming countries in the world today and safeguards national security and cut The confrontation of the strategic high ground of body interests, military field has also been extended to outer space therewith.Spacecraft in Spatial Countermeasure not It is only capable of precisely hitting ground target as a kind of weapon, but also crucial battle reconnaissance information can be provided, navigator fix, led The important informations such as early warning are played, therefore, carry out attack to spacecraft and be allowed to can not work normally even to crash to have become Spatial Countermeasure Vital task.As one of the important load entrained by spacecraft platform, once sensor is under attack, boat will be seriously affected The scheduled function of its device.For example, implementing the high-power noise jamming of orientation to sensor using high-power jammer can effectively reduce The working performance of sensor；Transmitting interference signal similar with actual signal, causes wrong identification and judges, forms it into falseness Positioning etc..At the same time, spacecraft control also faces following severe challenge：One side solar light pressure torque, aerodynamic force The environmental disturbances such as square affect the precision of Spacecraft Control；On the other hand, due to the shortcoming of manufacturing process and complex space environment Influence so that even if spacecraft sensor under attack still can break down in the case that no.Therefore, research is complicated empty Between under environment the anti-interference faults-tolerant control of spacecraft sensor under fire system there is important real value.
Currently, the anti-interference Fault-Tolerant Problems attacked for sensor information and interfered simultaneously containing external description model, in State's number of patent application 201610394941.7 proposes a kind of flexible spacecraft active tolerant control based on Dynamic Output Feedback Method, but the patent to the actual value of sensor fault using output estimation residual signals and filter when carrying out On-line Estimation Influence of the environmental disturbances to failure reconfiguration precision is not considered；Chinese Patent Application No. 201710379752.7 proposes a kind of flexibility Spacecraft sensor fault accommodation method, but on the one hand the patent uses sliding-mode control, cause system chatter；On the other hand Influence of the coupling of sensor fault and environmental disturbances to failure reconfiguration precision is not considered.In conclusion urgent need to resolve is complicated Under space environment spacecraft sensor under fire when, realize high-precision, the High-reliability Control of spacecraft attitude control system.
Invention content
The technology of the present invention solves the problems, such as：For under complex space environment, spacecraft control is not only by space Environmental disturbances, the Spacecraft Control problem in the case of sensor system is under attack simultaneously, devise a kind of space pair The spacecraft attitude control method of environment resistant lower sensor under fire is high with anti-interference, that reliability is high, engineering practicability is strong is excellent Point.
The present invention and technical solution are：For the posture control that spacecraft sensor under complex space environment is under attack Problem processed；First, the spacecraft attitude control system model containing sensor attack and external environment interference is established；Secondly, exist Do not consider under sensor attack, design interference observer, the external environment interference that system is subject to is estimated；Again, it is based on External environment interference estimate, designs output filter and Unknown worm learns observer, believes the attack in sensor information Number estimated；Finally, in conjunction with signal to attack estimated value and external environment interference estimate, composite controller is designed, is constructed A kind of spacecraft attitude control method of Spatial Countermeasure environment lower sensor under fire.Specific implementation step is as follows：
The first step establishes the spacecraft attitude control system model Σ containing sensor attack and external environment interference1For
Wherein, t indicates time, x (t)=[x1(t)x2(t)]TFor system mode, For the time-derivative of system mode,θ, ψ are respectively the roll angle of spacecraft, pitch angle And yaw angle,Respectively angular velocity in roll, rate of pitch and yaw rate；U (t) is inputted in order to control, d (t) it is to be interfered by external environment,For sensor information signal to attack；A, B, C, D are the known constant value coefficient matrix of suitable dimension.
Second step, do not consider sensor attack under, design interference observer, to the external environment that system is subject to interfere into Row estimation：
External environment interference d (t) can describe Σ by following external model2：
Wherein, ω is the state of external model,For the time-derivative of external model state, coefficient matrixV is the known constant value matrix of suitable dimension, ω0For known constant.
Do not considering that sensor attack condition exists, for external model Σ2Design interference observer Σ3For：
Wherein,Indicate the estimated value of w (t),It indicatesFirst derivative, L2For the gain of interference observer Matrix, v (t) are auxiliary variable,Indicate the first derivative of v (t)；
Third walks, and is based on external environment interference estimate, designs output filter and Unknown worm learns observer, to passing Signal to attack in sensor information is estimated：
First against the spacecraft attitude control system model Σ containing sensor attack and external environment interference1, design Following output filter Σ4：
Wherein, stateIt is the state of output filter,For output filter stateFirst derivative, y (t) it is system Σ1Sensor output,It is Hull dimension hereby matrix.
In conjunction with the spacecraft attitude control system Σ interfered containing sensor attack and external environment1And output filter Σ4, enableEstablish augmented system model Σ5：
Wherein,For augmented system Σ5State,It isAbout the first derivative of time t,For augmentation System Σ5Output,
In above-mentioned augmented system Σ5On the basis of, to realize to sensor signal to attackEstimation, design following shape The study Unknown Input Observer Σ of formula5：
Wherein, z (t) is study Unknown Input Observer Σ6State,It is first derivatives of the z (t) about time t,For augmented system Σ3StateEstimated value,For augmented system Σ5OutputEstimated value,For outside The estimated value of environmental disturbances d (t),For sensor signal to attackEstimated value, τ be learning time interval, be normal Value,For the sensor signal to attack estimated value at t- τ moment, T, H, L2、K1、K2For suitable dimension observer square to be designed Battle array.
4th step designs composite controller in conjunction with signal to attack estimated value and external environment interference estimate：
Wherein, K3Device gain in order to control, y (t) are system Σ1Sensor output,Interfere d's (t) for external environment Estimated value,For sensor signal to attackEstimated value.
The advantages of the present invention over the prior art are that：
(1) the present invention is based on the sensors of spacecraft to be caused sensor information to interfere by enemy's malicious attack, and Control problem under being interfered by complex space environment in view of spacecraft has stronger engineering practicability；
(2) the space environment interference that spacecraft is subject to is carried out estimation using interference observer and is controlled by feeding back by the present invention System is offset, and the control accuracy of control system is improved；
(3) present invention fully takes into account environmental disturbances during sensor signal to attack is reconstructed and is reconstructed to attack The influence of observer, design Unknown worm learn observer, improve the precision of attack reconstruct；
(4) present invention makes full use of environmental disturbances estimated value and signal to attack reconstruction value during designing controller, The composite controller designed makes control system have stronger anti-interference and reliability.
Description of the drawings
Fig. 1 is a kind of design cycle of the spacecraft attitude control method of Spatial Countermeasure environment lower sensor of the present invention under fire Figure.
Specific implementation mode
The following describes the present invention in detail with reference to the accompanying drawings and embodiments.
As shown in Figure 1, a kind of spacecraft attitude control method of Spatial Countermeasure environment lower sensor of the present invention under fire Design procedure is：First, the spacecraft attitude control system model containing sensor attack and external environment interference is established；Its It is secondary, in the case where not considering sensor attack, interference observer is designed, the external environment interference that system is subject to is estimated；Again, Based on external environment interference estimate, designs output filter and Unknown worm learns observer, to attacking in sensor information Signal is hit to be estimated；Finally, in conjunction with signal to attack estimated value and external environment interference estimate, composite controller, structure are designed Produce a kind of spacecraft attitude control method of Spatial Countermeasure environment lower sensor under fire.
Specific implementation step is as follows：
The first step establishes the spacecraft attitude control system model Σ containing sensor attack and external environment interference1For
Wherein, t indicates time, x (t)=[x1(t)x2(t)]TFor system mode, For the time-derivative of system mode,θ, ψ are respectively the roll angle of spacecraft, pitch angle And yaw angle,Respectively angular velocity in roll, rate of pitch and yaw rate；U (t) is inputted in order to control, d (t) it is to be interfered by external environment,For sensor information signal to attack；A, B, C, D are the known constant value coefficient matrix of suitable dimension.
In the implementation case, the initial value of the roll angle of spacecraft, pitch angle and yaw angle is x1=[0.0847- 0.1635 0.1248]TThe initial value of rad, the angular velocity in roll of spacecraft, rate of pitch and yaw rate are x2= [0.011 0.013-0.012]TRad/s takes rotary inertia J=diag { 18.73,20.77,23.63 } kgm2, signal to attackExternal environment is interferedCoefficient matrix
Second step, do not consider sensor attack under, design interference observer, to the external environment that system is subject to interfere into Row estimation：
External environment interference d (t) can describe Σ by following external model2：
Wherein, ω is the state of external model,For the time-derivative of external model state, coefficient matrix
Do not considering that sensor attack condition exists, for external model Σ2Design interference observer Σ3For：
Wherein,Indicate the estimated value of w (t),It indicatesFirst derivative, v (t) be auxiliary variable,Table Show the first derivative of v (t), interference observer gain L1It can be obtained by POLE PLACEMENT USING theory：
|sI2×2-(W+L1CBV) |=(s+ λ0)2
Wherein, s indicates complex variable, I2×2Indicate second order unit matrix, λ0＞ 0 is given normal number, indicates system bandwidth； Symbol | | indicate the determinant of solution matrix.
Third walks, and is based on external environment interference estimate, designs output filter and Unknown worm learns observer, to passing Signal to attack in sensor information is estimated：
First against the spacecraft attitude control system model Σ containing sensor attack and external environment interference1, design Following output filter Σ4：
Wherein, stateIt is the state of output filter,For output filter stateFirst derivative, y (t) it is system Σ1Sensor output, coefficient matrix
In conjunction with the spacecraft attitude control system Σ interfered containing sensor attack and external environment1And output filter Σ4, enableEstablish augmented system model Σ5：
Wherein,For augmented system Σ5State,It isAbout the first derivative of time t,For augmentation System Σ5Output,
In above-mentioned augmented system Σ5On the basis of, to realize to sensor signal to attackEstimation, design following shape The study Unknown Input Observer Σ of formula5：
Wherein, z (t) is study Unknown Input Observer Σ6State,It is first derivatives of the z (t) about time t,For augmented system Σ3StateEstimated value,For augmented system Σ5OutputEstimated value,For outside The estimated value of environmental disturbances d (t),For sensor signal to attackEstimated value, τ be learning time interval, τ= 0.01,For the sensor signal to attack estimated value at t- τ moment, observer matrix T, H, L2、K1、K2Following formula can be passed through Son solves：
Wherein, constant value β ＞ 1 are chosen,The generalized inverse matrix of representing matrix, P, R are the matrix found out by LMI, observation Device matrix L2=P-1R。
4th step designs composite controller in conjunction with signal to attack estimated value and external environment interference estimate：
Wherein, y (t) is system Σ1Sensor output,The estimated value of d (t) is interfered for external environment,To pass Sensor signal to attackEstimated value, controller matrix K3It can be solved by following pole-assignment：
|sI6×6(A+BKC) |=(s+ λ1)6
Wherein, s indicates complex variable, I6×6Indicate six rank unit matrix, λ1＞ 0 is given normal number, indicates system bandwidth； Symbol | | indicate the determinant of solution matrix
The content that description in the present invention is not described in detail belongs to the prior art well known to professional and technical personnel in the field.

Claims (5)

1. a kind of spacecraft attitude control method of Spatial Countermeasure environment lower sensor under fire, it is characterised in that include the following steps：
The first step establishes the spacecraft attitude control system model containing sensor attack and external environment interference；
Second step is based on the spacecraft attitude control system model, in the case where not considering sensor attack, design interference Observer estimates the external environment interference that spacecraft attitude control system is subject to, obtains external environment interference estimate；
Third walks, and is based on the external environment interference estimate, designs output filter and Unknown worm learns observer, to institute The signal to attack stated in sensor is estimated, signal to attack estimated value is obtained；
4th step designs composite controller in conjunction with the signal to attack estimated value and the external environment interference estimate, to Realize the Spacecraft Attitude Control of Spatial Countermeasure environment lower sensor under fire.
2. a kind of spacecraft attitude control method of Spatial Countermeasure environment lower sensor according to claim 1 under fire, special Sign is：The spacecraft attitude control system model containing sensor attack and external environment interference is established in the first step such as Under：
Spacecraft attitude control system model Σ containing sensor attack and external environment interference1For：
Wherein, t indicates time, x (t)=[x1(t) x2(t)]TFor system mode, For the time-derivative of system mode,θ, ψ are respectively the roll angle of spacecraft, pitch angle And yaw angle,Respectively angular velocity in roll, rate of pitch and yaw rate；U (t) is inputted in order to control, d (t) it is to be interfered by external environment,For sensor information signal to attack；A, B, C, D are the known constant value coefficient matrix of suitable dimension.
3. a kind of spacecraft attitude control method of Spatial Countermeasure environment lower sensor according to claim 1 under fire, special Sign is：The second step is implemented as follows：
External environment interference d (t) describes Σ by following external model2：
Wherein, ω (t) is the state of external model,For the time-derivative of external model state, coefficient matrixV is the known constant value matrix of suitable dimension, ω0For known constant.
Do not considering that sensor attack condition exists, for external model Σ2Design interference observer Σ3For：
Wherein,Indicate the estimated value of w (t),It indicatesFirst derivative, L1For the gain matrix of interference observer, v (t) it is auxiliary variable,Indicate the first derivative of v (t).
4. a kind of spacecraft attitude control method of Spatial Countermeasure environment lower sensor according to claim 1 under fire, special Sign is：The third step is implemented as follows：
First against the spacecraft attitude control system model Σ containing sensor attack and external environment interference1, design following defeated Go out filter Σ4：
Wherein, stateIt is the state of output filter,For output filter stateFirst derivative, y (t) is System Σ1Sensor output,It is Hull dimension hereby matrix；
In conjunction with the spacecraft attitude control system Σ interfered containing sensor attack and external environment1With output filter Σ4, enableEstablish augmented system model Σ5：
Wherein,For augmented system Σ5State,It isAbout the first derivative of time t,For augmented system Σ5 Output,
In above-mentioned augmented system Σ5On the basis of, to realize to sensor signal to attackEstimation, design following form Learn Unknown Input Observer Σ5：
Wherein, z (t) is study Unknown Input Observer Σ6State,It is first derivatives of the z (t) about time t,For Augmented system Σ3The estimated value of state x (t),For augmented system Σ5OutputEstimated value,It is dry for external environment The estimated value of d (t) is disturbed,For sensor signal to attackEstimated value, τ be learning time interval, be normal value,For the sensor signal to attack estimated value at t- τ moment, T, H, L2、K1、K2For suitable dimension observer matrix to be designed.
5. a kind of spacecraft attitude control method of Spatial Countermeasure environment lower sensor according to claim 1 under fire, special Sign is：Signal to attack estimated value and external environment interference estimate are combined in 4th step, design composite controller：
Wherein, K3Device gain in order to control, y (t) are system Σ1Sensor output,The estimation of d (t) is interfered for external environment Value,For sensor signal to attackEstimated value.
CN201810436189.7A 2018-05-09 2018-05-09 A kind of spacecraft attitude control method of Spatial Countermeasure environment lower sensor under fire Pending CN108628331A (en)

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CN113039411A (en) * 2018-11-28 2021-06-25 三菱电机株式会社 Attack removal device, attack removal method, and attack removal program
CN109739084A (en) * 2018-12-11 2019-05-10 曲阜师范大学 The anti-interference output feedback ontrol model acquisition methods of linear system sliding formwork and system, controller and control method
CN109739084B (en) * 2018-12-11 2022-08-23 曲阜师范大学 System sliding mode anti-interference model obtaining method, system, controller and control method
CN110543162B (en) * 2019-07-24 2021-02-26 浙江工业大学 Multiple fault identification method for motion control system under strong noise
CN110543162A (en) * 2019-07-24 2019-12-06 浙江工业大学 multiple fault identification method for motion control system under strong noise
CN110531621A (en) * 2019-09-05 2019-12-03 北京航空航天大学 A kind of information physical system reliable control method towards under Hybrid Attack
CN110826881A (en) * 2019-10-25 2020-02-21 北京控制工程研究所 Spacecraft on-orbit health state assessment method and system considering uncertain interference
CN110826881B (en) * 2019-10-25 2022-09-27 北京控制工程研究所 Spacecraft on-orbit health state assessment method and system considering uncertain interference
CN110855683A (en) * 2019-11-18 2020-02-28 东北电力大学 Method for carrying out attack detection and reconstruction on electric power information physical system
CN110855683B (en) * 2019-11-18 2021-08-10 东北电力大学 Method for carrying out attack detection and reconstruction on electric power information physical system
CN111142549B (en) * 2019-12-30 2021-03-02 北京航空航天大学 Anti-interference attack detection and self-healing controller and control method for unmanned aerial vehicle attitude control system
CN111142549A (en) * 2019-12-30 2020-05-12 北京航空航天大学 Anti-interference attack detection and self-healing controller and control method for unmanned aerial vehicle attitude control system
CN111190428A (en) * 2020-01-04 2020-05-22 曲阜师范大学 Aircraft system self-adaptive attitude safety control method and system based on sensor and actuator attack, controller and control method
CN111190428B (en) * 2020-01-04 2023-12-01 曲阜师范大学 Sensor and actuator attack-based self-adaptive attitude safety control method and system, controller and control method for aircraft system
CN111208731A (en) * 2020-01-12 2020-05-29 东北电力大学 Method for carrying out attack detection and reconstruction on electric power information physical system
CN111208731B (en) * 2020-01-12 2022-05-24 东北电力大学 Method for attack detection and reconstruction of electric power information physical system
CN111176120A (en) * 2020-01-21 2020-05-19 北京空间飞行器总体设计部 Spacecraft online reconstruction opportunity optimization method
CN111813096A (en) * 2020-08-11 2020-10-23 北京航空航天大学 Unmanned aerial vehicle safety control method under attack of expected track signal
CN111813096B (en) * 2020-08-11 2021-11-19 北京航空航天大学 Unmanned aerial vehicle safety control method under attack of expected track signal

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Application publication date: 20181009