CN109426238A - A kind of attitude control system of the spacecraft Multiple faults diagnosis approach based on sliding mode observer - Google Patents
A kind of attitude control system of the spacecraft Multiple faults diagnosis approach based on sliding mode observer Download PDFInfo
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Abstract
The attitude control system of the spacecraft Multiple faults diagnosis approach based on sliding mode observer that the present invention relates to a kind of, establish attitude control system of the spacecraft kinetic model, sliding mode observer is designed according to posture control system kinetic model, and sliding mode observer parameter is determined according to Lyapunov stability principle；Failure reconfiguration function is constructed according to the sliding mode observer of design, failure is reconstructed, completes fault diagnosis.The present invention can obtain fault message and specific fault condition in time, influence of the external disturbance to fault diagnosis result is inhibited simultaneously, slow down the buffeting effect of sliding formwork, therefore, system fault diagnosis efficiency can be effectively improved, improves the safety and reliability of spacecraft operation, while the present invention can be diagnosed to be the multiple faults situation of system actuators well, this method is improved in the value of practical application, there is stronger applicability for the control of practical posture control system.
Description
Technical field
The present invention relates to spacecraft fault diagnosis field, specifically a kind of spacecraft attitude control based on sliding mode observer
System Multiple faults diagnosis approach.
Background technique
Structure is complicated for Space Vehicle System, is made of plurality of device and component, and prolonged work is needed to exist
In severe space environment, the problem of influenced by a variety of environmental factors, inevitably occur this or that in flight course, because
This, fault diagnosis technology is very important in the transmitting and operation of Space Vehicle System.
Attitude control system is a subsystem most complicated in Space Vehicle System, and task is to obtain the posture of spacecraft
Information simultaneously keeps its posture in space to orient, once attitude control system operation error, spacecraft have great probability
Loss posture is out of hand in a short time, this is often fatal for in-orbit task.And fault diagnosis technology can be effective
Ground improves system reliability, enhances the safety and maintainability of system.Therefore the fault diagnosis research of posture control system has non-
Often important meaning.
While Propect of Fault Diagnosis Technique of Spacecrafts fast development, the research of Multiple faults diagnosis approach has obtained domestic and international
The extensive attention of person.Multiple faults problem refers in system while occurring a variety of same types or different types of fault type,
The diagnosis difficulty of failure is more difficult than the diagnosis of single failure, so, the research of multi-fault Diagnosis problem has more difficulty and the valence of applying
Value, in particular for the system for needing high reliability as spacecraft.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of attitude control system of the spacecraft multiple faults based on sliding mode observer
Diagnostic method.
Present invention technical solution used for the above purpose is:
A kind of attitude control system of the spacecraft Multiple faults diagnosis approach based on sliding mode observer, comprising the following steps:
Attitude control system of the spacecraft kinetic model is established, sliding mode observer is designed according to posture control system kinetic model, and
Sliding mode observer parameter is determined according to Lyapunov stability principle；
Failure reconfiguration function is constructed according to the sliding mode observer of design, failure is reconstructed, completes fault diagnosis.
The attitude control system of the spacecraft kinetic model are as follows:
Y (t)=Cx (t)
Wherein, x (t) is system mode；For the derivative of x (t)；Y (t) is system output；D (t) is external disturbance；u
It (t) is control input；G (x (t)) is mission nonlinear function；T is time quantum；fiFor i-th of actuator failures function；BfiFor
Actuator failures gain matrix；A is the state gain matrix of state equation in system；B is defeated to control in state equation in system
Enter gain matrix；C is the output gain matrix of output equation in system.
The sliding mode observer are as follows:
Wherein,For state estimation vector；For output estimation vector；ziIt (t) is the state vector of observer；For zi(t) derivative；Y (t) is output vector, and u (t) is control input；μiIt (t) is sliding formwork Fault Estimation function；
For the estimated value of nonlinear function；For the estimated value of external disturbance；B is control input matrix；BfiFor actuator failures increasing
Beneficial matrix；FiFor state observer matrix；TiTo input observer matrix；HiFor output observer matrix；NiFor with observer
Matrix；T is time quantum；I is the actuator symbol of the i-th axis.
The observer matrix meets following functional relation:
Wherein, I is unit matrix, and C is output matrix；BfiFor actuator failures gain matrix；FiFor state observer square
Battle array；TiTo input observer matrix；HiFor output observer matrix；NiFor with observer matrix；KiFor the centre of appropriate dimension
Matrix；I is the actuator symbol of the i-th axis, and j is the actuator symbol of jth axis.
The failure reconfiguration function are as follows:
Wherein, μiIt (t) is sliding formwork Fault Estimation function；ρiFor scale parameter, 0.01~0.1 is generally taken；δiIt is a very little
Positive number, for slowing down the buffeting effect of sliding formwork；εiIt (t) is output observation error, value is| | | | for vector
Modulus；FiFor state observer matrix；I is the actuator symbol of the i-th axis；T is time quantum.
The failure includes single failure and multiple faults.
The single failure is X-axis actuator failures, Y-axis actuator failures, any one in Z axis actuator failures.
The single failure includes X-axis actuator failures, Y-axis actuator failures and Z axis actuator failures, wherein
X-axis actuator failures are expressed as μ1=1, μ2=0, μ3=0；
Y-axis actuator failures are expressed as μ1=0, μ2=1, μ3=0；
Z axis actuator failures are expressed as μ1=0, μ2=0, μ3=1；
Wherein, " 1 " indicates that corresponding sliding mode observer has obtained the reconstruction value of actuator failures；" 0 " indicates sliding formwork observation
Device does not obtain the reconstruction value of actuator failures；μ1Indicate the failure reconfiguration function of X-axis sliding mode observer；μ2Indicate the observation of Y-axis sliding formwork
The failure reconfiguration function of device；μ3Indicate the failure reconfiguration function of Z axis sliding mode observer.
The multiple faults is X-axis actuator failures, Y-axis actuator failures, at least two failures in Z axis actuator failures
Occur simultaneously.
The multiple faults includes X-axis and Y-axis actuator simultaneous faults, X-axis and Z axis actuator simultaneous faults, Y-axis and Z axis
Tri- axis actuator simultaneous faults of actuator simultaneous faults and X, Y, Z；Wherein,
X-axis and Y-axis actuator simultaneous faults are expressed as μ1=1, μ2=1, μ3=0；
X-axis and Z axis actuator simultaneous faults are expressed as μ1=1, μ2=0, μ3=1；
Y-axis and Z axis actuator simultaneous faults are expressed as μ1=0, μ2=1, μ3=1；
X, tri- axis actuator simultaneous faults of Y, Z is expressed as μ1=1, μ2=1, μ3=1；
Wherein, " 1 " indicates that corresponding sliding mode observer has obtained the reconstruction value of actuator failures；" 0 " indicates sliding formwork observation
Device does not obtain the reconstruction value of actuator failures；μ1Indicate the failure reconfiguration function of X-axis sliding mode observer；μ2Indicate the observation of Y-axis sliding formwork
The failure reconfiguration function of device；μ3Indicate the failure reconfiguration function of Z axis sliding mode observer.
The invention has the following beneficial effects and advantage:
Present invention application sliding-mode control design error failure diagnostic observations device and multi-fault Diagnosis strategy, so that spacecraft appearance
State control system can obtain fault message and specific fault condition after breaking down in time, while inhibit external dry
The influence to fault diagnosis result is disturbed, the buffeting effect of sliding formwork is slowed down, therefore, system fault diagnosis effect can be effectively improved
Rate improves the safety and reliability of spacecraft operation.In addition, can be examined well under the side group of multi-fault Diagnosis strategy
The multiple faults situation of disconnected system actuators out, improves control of this method in the value of practical application, for practical posture control system
Fixture has stronger applicability.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
It is as shown in Figure 1 flow chart of the method for the present invention, the invention proposes a kind of spacecrafts based on sliding mode observer
Posture control system Multiple faults diagnosis approach, comprising the following steps:
Step 1: establishing attitude control system of the spacecraft kinetic model, there are external disturbance torque and multiple faults feelings for consideration system
Condition.
The attitude control system of the spacecraft kinetic model are as follows:
Y (t)=Cx (t)
Wherein, x (t) is system mode；For the derivative of x (t)；Y (t) is system output；D (t) is external disturbance；u
It (t) is control input；G (x (t)) is mission nonlinear function；T is time quantum；fiFor i-th of actuator failures function；BfiFor
Actuator failures gain matrix；A is the state gain matrix of state equation in system；B is defeated to control in state equation in system
Enter gain matrix；C is the output gain matrix of output equation in system.
Step 2: sliding mode observer being designed according to posture control system kinetic model, and determining sight is provided according to stability principle
The method for surveying device parameter.
Sliding mode observer, designed sliding mode observer are designed according to the attitude control system of the spacecraft kinetic model
Are as follows:
Wherein,For state estimation vector；For output estimation vector；ziIt (t) is the state vector of observer；For zi(t) derivative；Y (t) is output vector, and u (t) is control input；μiIt (t) is sliding formwork Fault Estimation function；
For the estimated value of nonlinear function；For the estimated value of external disturbance；B is control input matrix；BfiFor actuator failures increasing
Beneficial matrix；FiFor state observer matrix；TiTo input observer matrix；HiFor output observer matrix；NiFor with observer
Matrix；T is time quantum；I is the actuator symbol of the i-th axis.
Step 3: the method that determining observer parameter is provided according to stability principle.
Sliding mode observer matrix parameter is determined according to the functional relation that observer matrix meets:
Wherein, I is unit matrix, and C is output matrix；BfiFor actuator failures gain matrix；FiFor state observer square
Battle array；TiTo input observer matrix；HiFor output observer matrix；NiFor with observer matrix；KiFor the centre of appropriate dimension
Matrix.I, j are corresponding actuator symbol.
Step 4: failure is reconstructed in the sliding mode observer of application design, thus the diagnosis of the single failure of complete paired systems
Task；
According to the sliding mode observer by the way that the diagnostic work completed to single failure, the event is reconstructed to failure
Hinder reconstruction of function are as follows:
Wherein, μiIt (t) is sliding formwork Fault Estimation function；ρiFor scale parameter, 0.01~0.1 is generally taken；δiIt is a very little
Positive number, for slowing down the buffeting effect of sliding formwork；εiIt (t) is output observation error, value is| | | | for vector
Modulus；FiFor state observer matrix；I is the actuator symbol of the i-th axis；T is time quantum.
Step 5: further design multi-fault Diagnosis strategy, to complete system multi-fault Diagnosis Task.
According to the Design of Sliding Mode Observer multi-fault Diagnosis strategy, wherein designed multi-fault Diagnosis strategy are as follows:
Wherein, " 1 " indicates that corresponding sliding mode observer has obtained the reconstruction value of actuator failures；" 0 " indicates sliding formwork observation
Device does not obtain the reconstruction value of actuator failures；μ1Indicate the failure reconfiguration function of X-axis sliding mode observer；μ2Indicate the observation of Y-axis sliding formwork
The failure reconfiguration function of device；μ3Indicate the failure reconfiguration function of Z axis sliding mode observer.
Claims (10)
1. a kind of attitude control system of the spacecraft Multiple faults diagnosis approach based on sliding mode observer, it is characterised in that: including following step
It is rapid:
Attitude control system of the spacecraft kinetic model is established, according to posture control system kinetic model design sliding mode observer, and according to
Lyapunov stability principle determines sliding mode observer parameter；
Failure reconfiguration function is constructed according to the sliding mode observer of design, failure is reconstructed, completes fault diagnosis.
2. the attitude control system of the spacecraft Multiple faults diagnosis approach according to claim 1 based on sliding mode observer, feature
It is, the attitude control system of the spacecraft kinetic model are as follows:
Y (t)=Cx (t)
Wherein, x (t) is system mode；For the derivative of x (t)；Y (t) is system output；D (t) is external disturbance；U (t) is
Control input；G (x (t)) is mission nonlinear function；T is time quantum；fiFor i-th of actuator failures function；BfiFor actuator
Failure gain matrix；A is the state gain matrix of state equation in system；B is to control input gain in state equation in system
Matrix；C is the output gain matrix of output equation in system.
3. the attitude control system of the spacecraft Multiple faults diagnosis approach according to claim 1 based on sliding mode observer, feature
It is, the sliding mode observer are as follows:
Wherein,For state estimation vector；For output estimation vector；ziIt (t) is the state vector of observer；For zi
(t) derivative；Y (t) is output vector, and u (t) is control input；μiIt (t) is sliding formwork Fault Estimation function；It is non-thread
The estimated value of property function；For the estimated value of external disturbance；B is control input matrix；BfiFor actuator failures gain matrix；
FiFor state observer matrix；TiTo input observer matrix；HiFor output observer matrix；NiFor with observer matrix；t
For time quantum；I is the actuator symbol of the i-th axis.
4. the attitude control system of the spacecraft Multiple faults diagnosis approach according to claim 3 based on sliding mode observer, feature
It is, the observer matrix meets following functional relation:
Wherein, I is unit matrix, and C is output matrix；BfiFor actuator failures gain matrix；FiFor state observer matrix；Ti
To input observer matrix；HiFor output observer matrix；NiFor with observer matrix；KiFor the intermediary matrix of appropriate dimension；
I is the actuator symbol of the i-th axis, and j is the actuator symbol of jth axis.
5. the attitude control system of the spacecraft Multiple faults diagnosis approach according to claim 1 based on sliding mode observer, feature
It is, the failure reconfiguration function are as follows:
Wherein, μiIt (t) is sliding formwork Fault Estimation function；ρiFor scale parameter, 0.01~0.1 is generally taken；δiBe a very little just
Number, for slowing down the buffeting effect of sliding formwork；εiIt (t) is output observation error, value is| | | | to ask vector
Mould；FiFor state observer matrix；I is the actuator symbol of the i-th axis；T is time quantum.
6. the attitude control system of the spacecraft Multiple faults diagnosis approach according to claim 1 based on sliding mode observer, feature
It is, the failure includes single failure and multiple faults.
7. the attitude control system of the spacecraft Multiple faults diagnosis approach according to claim 6 based on sliding mode observer, feature
It is, the single failure is X-axis actuator failures, Y-axis actuator failures, any one in Z axis actuator failures.
8. the attitude control system of the spacecraft Multiple faults diagnosis approach according to claim 6 or 7 based on sliding mode observer, special
Sign is that the single failure includes X-axis actuator failures, Y-axis actuator failures and Z axis actuator failures, wherein
X-axis actuator failures are expressed as μ1=1, μ2=0, μ3=0；
Y-axis actuator failures are expressed as μ1=0, μ2=1, μ3=0；
Z axis actuator failures are expressed as μ1=0, μ2=0, μ3=1；
Wherein, " 1 " indicates that corresponding sliding mode observer has obtained the reconstruction value of actuator failures；" 0 " indicates sliding mode observer not
Obtain the reconstruction value of actuator failures；μ1Indicate the failure reconfiguration function of X-axis sliding mode observer；μ2Indicate Y-axis sliding mode observer
Failure reconfiguration function；μ3Indicate the failure reconfiguration function of Z axis sliding mode observer.
9. the attitude control system of the spacecraft Multiple faults diagnosis approach according to claim 6 based on sliding mode observer, feature
It is, the multiple faults is X-axis actuator failures, at least two failures in Y-axis actuator failures, Z axis actuator failures are same
Shi Fasheng.
10. the attitude control system of the spacecraft Multiple faults diagnosis approach according to claim 6 or 9 based on sliding mode observer,
It is characterized in that, the multiple faults includes X-axis and Y-axis actuator simultaneous faults, X-axis and Z axis actuator simultaneous faults, Y-axis and Z axis
Tri- axis actuator simultaneous faults of actuator simultaneous faults and X, Y, Z；Wherein,
X-axis and Y-axis actuator simultaneous faults are expressed as μ1=1, μ2=1, μ3=0；
X-axis and Z axis actuator simultaneous faults are expressed as μ1=1, μ2=0, μ3=1；
Y-axis and Z axis actuator simultaneous faults are expressed as μ1=0, μ2=1, μ3=1；
X, tri- axis actuator simultaneous faults of Y, Z is expressed as μ1=1, μ2=1, μ3=1；
Wherein, " 1 " indicates that corresponding sliding mode observer has obtained the reconstruction value of actuator failures；" 0 " indicates sliding mode observer not
Obtain the reconstruction value of actuator failures；μ1Indicate the failure reconfiguration function of X-axis sliding mode observer；μ2Indicate Y-axis sliding mode observer
Failure reconfiguration function；μ3Indicate the failure reconfiguration function of Z axis sliding mode observer.
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| CN111290366A (en) * | 2020-02-12 | 2020-06-16 | 北京科技大学顺德研究生院 | Multi-fault diagnosis method for spacecraft attitude control system |
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| CN114815785A (en) * | 2022-06-07 | 2022-07-29 | 哈尔滨工业大学 | Nonlinear system actuator robust fault estimation method based on finite time observer |
| CN114879512A (en) * | 2022-07-06 | 2022-08-09 | 南京航空航天大学 | Spacecraft formation orbit fault-tolerant control method based on learning neural network sliding mode |
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| CN117031935A (en) * | 2023-06-28 | 2023-11-10 | 北京空间飞行器总体设计部 | Dynamic cooperation method for spacecraft autonomous diagnosis reconstruction process |
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| CN111290366A (en) * | 2020-02-12 | 2020-06-16 | 北京科技大学顺德研究生院 | Multi-fault diagnosis method for spacecraft attitude control system |
| CN111290366B (en) * | 2020-02-12 | 2022-05-27 | 北京科技大学顺德研究生院 | Multi-fault diagnosis method for attitude control system of spacecraft |
| CN112699532A (en) * | 2020-12-09 | 2021-04-23 | 南京航空航天大学 | Fault reconstruction method of proton exchange membrane fuel cell air supply subsystem based on adaptive second-order sliding-mode observer |
| CN112699532B (en) * | 2020-12-09 | 2024-07-23 | 南京航空航天大学 | Fault reconstruction method of proton exchange membrane fuel cell air supply subsystem based on self-adaptive second-order sliding mode observer |
| CN114815785A (en) * | 2022-06-07 | 2022-07-29 | 哈尔滨工业大学 | Nonlinear system actuator robust fault estimation method based on finite time observer |
| CN114815785B (en) * | 2022-06-07 | 2023-04-07 | 哈尔滨工业大学 | Nonlinear system actuator robust fault estimation method based on finite time observer |
| CN114879512A (en) * | 2022-07-06 | 2022-08-09 | 南京航空航天大学 | Spacecraft formation orbit fault-tolerant control method based on learning neural network sliding mode |
| CN114879512B (en) * | 2022-07-06 | 2022-11-08 | 南京航空航天大学 | Spacecraft formation orbit fault-tolerant control method based on learning neural network sliding mode |
| CN116880521A (en) * | 2023-06-26 | 2023-10-13 | 北京空间飞行器总体设计部 | Normal and fault integrated design method for autonomous diagnosis and reconstruction of spacecraft |
| CN116880521B (en) * | 2023-06-26 | 2024-07-12 | 北京空间飞行器总体设计部 | Normal and fault integrated design method for autonomous diagnosis and reconstruction of spacecraft |
| CN116954070A (en) * | 2023-06-28 | 2023-10-27 | 北京空间飞行器总体设计部 | Diagnosis and reconstruction integrated design method for spacecraft autonomous diagnosis and reconstruction process |
| CN117031935A (en) * | 2023-06-28 | 2023-11-10 | 北京空间飞行器总体设计部 | Dynamic cooperation method for spacecraft autonomous diagnosis reconstruction process |
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