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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attitude
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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

Spacecraft amplitude limiting self-adaptive attitude collaborative fault-tolerant control method
Technical Field
The invention belongs to the technical field of multi-spacecraft formation flight, and particularly relates to a spacecraft amplitude limiting self-adaptive attitude collaborative fault-tolerant control method.
Background
With the diversification of space missions, the traditional working mode that a single spacecraft completes the mission independently cannot meet the requirements of actual engineering, and under the background, the flight research of multi-spacecraft formation is rapidly developed and becomes one of the hot spots of the research in recent years.
The multi-spacecraft formation refers to a working system consisting of two or more spacecrafts which are close to each other and have an interactive and cooperative relationship. And information transmission is realized between adjacent individuals in the formation through a sensor measuring device, and attitude cooperative control is carried out, so that space detection and maintenance tasks are achieved. The formation of a plurality of small-sized spacecrafts solves the problem that the traditional single spacecraft is restricted by physical properties such as the volume and the mass of the effective load, and the like, and improves the reconfigurability and the robustness of the whole system. Coordination of the attitude of multiple spacecraft is an important feature for formation flight control of the spacecraft.
With the continuous and deep research of human beings in the aerospace field, more and more large aerospace missions are put into engineering practice, however, due to the special operating environment and complex structure of the spacecraft, faults sometimes happen inevitably, and finally the missions fail, so that serious losses and influences are caused on the aspects of social politics, economy, even military and the like, and people increasingly recognize the importance of reliability and fault treatment on the spacecraft. In addition, the spacecraft can be subjected to interference torque caused by gravity gradient, solar radiation and the like, the inertia of the spacecraft is changed at any moment and the change degree is unknown due to the influence of fuel consumption and the rotation of the solar sailboard, meanwhile, an actuating mechanism of the spacecraft is restrained by the physical characteristics of the actuating mechanism, the output torque of the actuating mechanism cannot be any required control force, and torque amplitude limit exists. Based on the above situation, there is an urgent need for an amplitude-limiting adaptive attitude collaborative fault-tolerant control method, which can simultaneously consider the influence of actuator faults, moment amplitude limiting, disturbance moment and inertia change on the spacecraft control performance, and increase the robustness of an attitude collaborative system.
Disclosure of Invention
The invention aims to provide a spacecraft amplitude limiting self-adaptive attitude collaborative fault-tolerant control method which simultaneously considers faults of an actuating mechanism, moment amplitude limiting, interference moment and inertia change.
The technical solution for realizing the purpose of the invention is as follows: a spacecraft amplitude limiting self-adaptive attitude collaborative fault-tolerant control method comprises the following steps:
step 1, a formation comprises n following spacecrafts and 1 leader spacecrafts, and a quaternion attitude kinematics and a kinetic equation are established by taking a rigid body spacecraft as a research object;
step 2, establishing an attitude kinematics and dynamics tracking error equation between the follower and the leader according to coordinate transformation;
step 3, describing a communication topological structure of the spacecraft formation system by using an algebraic graph theory; the communication topological structure of the spacecraft formation system comprises a directed spanning tree, a leader is a root node, and attitude and angular velocity information of adjacent spacecrafts communicated by each spacecraft can be obtained through a directed communication topological graph communication strategy;
step 4, defining an error auxiliary variable;
step 5, designing a fault-tolerant consistency algorithm controller according to the auxiliary variables in the step 4 and the obtained attitude and angular speed state information of the adjacent spacecraft;
step 6, designing an interference suppression and inertia variation compensation controller according to the self state information and the obtained state information of the adjacent spacecraft;
step 7, designing a fast convergence controller;
step 8, designing a self-adaptive attitude cooperative fault-tolerant controller;
and 9, designing an amplitude limiting self-adaptive attitude cooperative fault-tolerant controller, judging whether the self-adaptive attitude cooperative fault-tolerant controller in the step 8 reaches the amplitude, if so, generating a torque saturation value by the controller, and if not, generating a control torque which is smaller than the amplitude and is required by the attitude cooperative task by the controller.
Compared with the prior art, the invention has the following remarkable advantages: (1) the method has robustness to complete failure or failure of partial execution mechanisms; (2) unknown time-varying inertia is not independently estimated, and the controller is simple in structure and easy to realize in engineering; (3) no a priori knowledge of inertia and environmental disturbances is required, such as the nominal value of inertia and the upper bound of disturbances; (4) compared with a conventional controller, the fast convergence controller can enable an error system to converge and stabilize more quickly; (5) the leader trajectory path is time-varying, not a static location, but is adapted to situations where the path is fixed.
Drawings
Fig. 1 is a schematic diagram of a clipping adaptive attitude cooperative fault-tolerant control method according to the present invention.
Fig. 2 is a communication topology diagram between formation spacecraft in an embodiment of the present invention.
Fig. 3 is a diagram of the attitude and angular velocity cooperative tracking error of the following spacecraft 1 in the embodiment.
Fig. 4 is a diagram of the attitude and angular velocity cooperative tracking error of the following spacecraft 2 in the embodiment.
Fig. 5 is a diagram of the attitude and angular velocity cooperative tracking error of the following spacecraft 3 in the embodiment.
Fig. 6 is a diagram of the attitude and angular velocity cooperative tracking error of the following spacecraft 4 in the embodiment.
Fig. 7 is a control moment graph of the following spacecraft 1 in the embodiment.
Fig. 8 is a control moment graph of the following spacecraft 2 in the embodiment.
Fig. 9 is a control moment graph of the following spacecraft 3 in the embodiment.
Fig. 10 is a control moment graph of the following spacecraft 4 in the embodiment.
Detailed Description
With reference to fig. 1, the amplitude limiting adaptive attitude collaborative fault-tolerant control method for the spacecraft of the present invention includes the following steps:
step 1, a formation comprises n following spacecrafts and 1 leader spacecrafts, a rigid body spacecraft is taken as a research object, and quaternion attitude kinematics and kinetic equations are established as follows:
wherein,is a quaternion vector of attitude units, ωi∈R3Representing the angular velocity vector of the spacecraft body coordinate system relative to the inertial coordinate system, representing the derivative of the variable, i.e.Respectively the attitude quaternion and the derivative of the angular velocity,×representing obliquely symmetrical matrix meanings, i.e.Is omegai＝[ωi1,ωi2,ωi3]TIs diagonally symmetrical matrix ofJi∈R3×3Is a spacecraft inertia matrix, Γi∈R3×σIs a moment distribution matrix, Mi＝diag{μi1,μi2,…,μiσ}∈Rσ×σIs a moment effective matrix, muiσ1 denotes normal control torque, μiσ0 means complete failure of the control torque, 0. ltoreq. muiσ1 or less indicates that the moment begins to age and decline, taui∈RσAnd τid∈R3Respectively representing the control moment and the externally bounded disturbance moment of the spacecraft, wherein sigma is more than 3, sigma is the number of moment actuators, i is 0,1, …, n, i is 0, and the other is a follower;
step 2, establishing a posture kinematics and dynamics error equation between the follower and the leader according to the coordinate transformation as follows:
wherein,andis the attitude quaternion error, ωie＝ωi-Niω0Is the angular velocity error, i ═ 1,2, …, n,is a coordinate rotation matrix;
step 3, describing a communication topological structure of the spacecraft formation system by algebraic graph theory, and in order to reduce communication paths and avoid resource waste, adopting a directional communication topological structure which has less communication traffic and comprises a directional spanning tree and takes a leader as a root node, setting leader information to be obtained by the follower, aijIs an element of the adjacency matrix, a if there is a communication from spacecraft j to iijIs greater than 0; in contrast, aij＝0；bi＝ai0Adjoining the matrix elements for the leader;
through a communication strategy of the directed communication topological graph, the spacecraft can obtain the postures of the adjacent communication spacecrafts through the sensorAnd angular velocity information ωj∈R3；
Step 4, defining an error auxiliary variable Si＝βqie+ωie，Wherein β is greater than 0,and satisfyφi＝1+||ωi||+||ωi||2；
Step 5, designing a fault-tolerant consistency algorithm controller according to the auxiliary variables in the step 4 and the obtained state information of the adjacent spacecrafts, such as the attitude, the angular velocity and the likeIn the formula, the parameter ki＞0；
Step 6, designing an interference suppression and inertia variation compensation controller according to the self state information and the obtained state information of the adjacent spacecraftWherein the parametersIs ciIs estimated byi＝1+||ωi||+||ωi||2，βi3＞0；
Step 7, designing a fast convergence controllerIn the formula sigα(Si)＝[sign(Si1)|Si1|α,sign(Si2)|Si2|α,sign(Si3)|Si3|α]T，SixDenotes Si0 < α ═ α1/α2＜1，α1And α2Is a prime odd number, k, of relative primei1> 0, sign (·) is a sign function,
step 8, designing the adaptive attitude cooperative fault-tolerant controller as
Step 9, designing an amplitude limiting self-adaptive attitude cooperative fault-tolerant controller, judging whether the self-adaptive attitude cooperative fault-tolerant controller in the step 8 reaches the amplitude, and if so, judging whether the self-adaptive attitude cooperative fault-tolerant controller reaches the amplitudeτimax＝diag(τi1max,τi2max,…,τiσmax) If the saturation value is not reachedThat is, the controller is
Wherein j represents the jth moment actuating mechanism of any spacecraft, ki＞0、βi1＞0、βi2> 0 and βi4＞0。
The present invention is described in further detail below with reference to examples:
examples
A formation system consisting of 4 following spacecrafts and 1 leader is adopted as a research object, and the specific parameters are as follows:
TABLE 1 spacecraft inertia matrix and initial attitude
Leader track: omega0＝[0.1sin(0.2t),0.1cos(0.2t),0.1cos(0.5t)]T，q0And q is00Can be obtained by the kinematic equation (1). The total number of actuators sigma is 6, and the torque limiter is tau1max＝[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 tauid＝(0.5+||ωi||2)[0.02sin(t),0.05cos(t),0.03cos(t)]TAnd i is 1,2,3, 4. The 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。
Selecting a moment distribution matrixThe effective matrix of moment is
Firstly, a spacecraft formation system model is built in MATLAB/Simulink, and the simulation time is 20 s.
FIG. 2 illustrates a directed communication topology including 4 following space vehicles and 1 leader. The attitude and angular velocity cooperative tracking error curve of the spacecraft is shown in fig. 3,4, 5 and 6, the error curve graph shows that a follower realizes the rapid tracking of the leader spacecraft with the time-varying reference track, and the error enlarged image (embedded image) shows that the error precision reaches 10-4An order of magnitude.
Fig. 7, fig. 8, fig. 9, and fig. 10 show control torque graphs of the spacecraft 1,2,3, and 4, and it can be seen that, in the entire spacecraft cooperative fault-tolerant tracking process, a torque clipping condition occurs at the early stage of tracking, and in addition, as can be seen from the torque effective matrix, when the time t is greater than 12s, M is greater than M1(2)、M2(4)、M3(5)、M4(6) Is 0, the 2 nd moment actuating mechanism of the spacecraft 1, the 4 th moment actuating mechanism of the spacecraft 2, the 5 th moment actuating mechanism of the spacecraft 3 and the 6 th moment actuating mechanism of the spacecraft 4 are shown to have complete failure, and similarly, when the time t is more than 13s, M is equal to M1(4)、M2(2)、M3(1)、M4(2) Is 0, which indicates that the 4 th torque executing mechanism of the spacecraft 1, the 2 nd torque executing mechanism of the spacecraft 2, the 1 st torque executing mechanism of the spacecraft 3 and the 2 nd torque executing mechanism of the spacecraft 4 have complete failure faults; the remaining actuators experience varying degrees of aging degradation failure.
By the embodiment, the amplitude limiting self-adaptive attitude cooperative tracking fault-tolerant control strategy is perfected, the redundant fault-tolerant control method is realized through reasonable moment distribution, meanwhile, the influence of inertia change and interference is compensated by the self-adaptive law, the spacecraft cooperative tracking error system can be rapidly converged, and the robustness and the practicability of the control system are further improved.

Claims (10)

1. A spacecraft amplitude limiting self-adaptive attitude collaborative fault-tolerant control method is characterized by comprising the following steps:
step 1, a formation comprises n following spacecrafts and 1 leader spacecrafts, and a quaternion attitude kinematics and a kinetic equation are established by taking a rigid body spacecraft as a research object;
step 2, establishing an attitude kinematics and dynamics tracking error equation between the follower and the leader according to coordinate transformation;
step 3, describing a communication topological structure of the spacecraft formation system by using an algebraic graph theory; the communication topological structure of the spacecraft formation system comprises a directed spanning tree, a leader is a root node, and attitude and angular velocity information of adjacent spacecrafts communicated by each spacecraft can be obtained through a directed communication topological graph communication strategy;
step 4, defining an error auxiliary variable;
step 5, designing a fault-tolerant consistency algorithm controller according to the auxiliary variables in the step 4 and the obtained attitude and angular speed state information of the adjacent spacecraft;
step 6, designing an interference suppression and inertia variation compensation controller according to the self state information and the obtained state information of the adjacent spacecraft;
step 7, designing a fast convergence controller;
step 8, designing a self-adaptive attitude cooperative fault-tolerant controller;
and 9, designing an amplitude limiting self-adaptive attitude cooperative fault-tolerant controller, judging whether the self-adaptive attitude cooperative fault-tolerant controller in the step 8 reaches the amplitude, if so, generating a torque saturation value by the controller, and if not, generating a control torque which is smaller than the amplitude and is required by the attitude cooperative task by the controller.
2. The spacecraft amplitude limiting adaptive attitude collaborative fault-tolerant control method according to claim 1, wherein quaternion attitude kinematics and kinetic equations established in the step 1 are as follows:
wherein,is a quaternion vector of attitude units, ωi∈R3Representing the angular velocity vector of the spacecraft body coordinate system relative to the inertia coordinate systemRepresenting derivatives of variables, i.e.Are derivatives of the attitude quaternion and angular velocity, respectively, and x denotes the skew-symmetric matrix meaning, i.e.Is omegai＝[ωi1,ωi2,ωi3]TIs diagonally symmetrical matrix ofI denotes an identity matrix, Ji∈R3×3Is a spacecraft inertia matrix, Γi∈R3×σIs a moment distribution matrix, Mi＝diag{μi1,μi2,…,μiσ}∈Rσ×σIs a moment effective matrix, muiσ1 denotes normal control torque, μiσ0 means complete failure of the control torque, 0. ltoreq. muiσ1 or less indicates that the moment begins to age and decline, tauiE.g. R σ and τid∈R3The control torque and the externally bounded disturbance torque of the spacecraft are respectively represented, sigma is the number of torque actuators, sigma is more than 3, i is 0,1, …, n, i is 0, and the leader spacecraft and the others are followers.
3. The spacecraft amplitude limiting adaptive attitude collaborative fault-tolerant control method according to claim 2, wherein the attitude kinematic and dynamic error equations in the step 2 are as follows:
wherein,andis the attitude quaternion error, ωie＝ωi-Niω0Is the angular velocity error, i ═ 1,2, …, n,is a coordinate rotation matrix.
4. The spacecraft amplitude limiting adaptive attitude collaborative fault-tolerant control method according to claim 3, wherein the step 3 specifically comprises:
describing a communication topology structure of a spacecraft formation system by using algebraic graph theory, wherein the communication topology comprises a directed spanning tree, a virtual leader is a root node, and leader information is set to be obtained by a follower, aijIs an element of the adjacency matrix, a if there is a communication from spacecraft j to iijIs greater than 0; in contrast, aij＝0；bi＝ai0Adjoining the matrix elements for the leader;
through a communication strategy of the directed communication topological graph, the spacecraft can obtain the postures of the adjacent communication spacecrafts through the sensorAnd angular velocity information ωj∈R3。
5. The spacecraft amplitude limiting adaptive attitude collaborative fault-tolerant control method according to claim 4, wherein the step 4 specifically comprises: defining an error auxiliary variable Si＝βqie+ωie，Wherein β is greater than 0,and satisfyφi＝1+||ωi||+||ωi||2。
6. The spacecraft amplitude limiting adaptive attitude collaborative fault-tolerant control method according to claim 5, wherein the step 5 specifically comprises: designing a fault-tolerant consistency algorithm controller according to the auxiliary variables in the step 4 and the obtained state information of the adjacent spacecrafts, such as the attitude, the angular velocity and the likeIn the formula, the parameter ki＞0。
7. The spacecraft amplitude limiting adaptive attitude collaborative fault-tolerant control method according to claim 6, wherein the step 6 specifically comprises: designing an interference suppression and inertia change compensation controller according to the self state information and the acquired state information of the adjacent spacecraftWherein the parametersIs ciIs estimated byi＝1+||ωi||+||ωi||2，βi3＞0。
8. The spacecraft amplitude limiting adaptive attitude collaborative fault-tolerant control method according to claim 7, wherein the step 7 specifically comprises: designing a fast convergence controllerIn the formula sigα(Si)＝[sign(Si1)|Si1|α,sign(Si2)|Si2|α,sign(Si3)|Si3|α]T，SixDenotes Si0 < α ═ α1/α2＜1，α1And α2Is a prime odd number, k, of relative primei1> 0, sign (·) is a sign function,
9. the spacecraft amplitude limiting adaptive attitude cooperative fault-tolerant control method according to claim 8, wherein the adaptive attitude cooperative fault-tolerant controller is designed in step 8 as
10. The spacecraft amplitude limiting adaptive attitude collaborative fault-tolerant control method according to claim 9, wherein the step 9 specifically comprises:
designing an amplitude limiting self-adaptive attitude cooperative fault-tolerant controller, judging whether the self-adaptive attitude cooperative fault-tolerant controller in the step 9 reaches the amplitude value, and if so, judging whether the self-adaptive attitude cooperative fault-tolerant controller reaches the amplitude valueτimax＝diag(τi1max,τi2max,…,τiσmax) If the saturation value is not reachedThat is, the controller is
Wherein j represents the jth moment actuating mechanism of any spacecraft, ki＞0、βi1＞0、βi2> 0 and βi4＞0。
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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
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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
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Application publication date: 20181009