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 invention relates to the field of spacecraft fault diagnosis, in particular to a sliding-mode observer-based spacecraft attitude control system multi-fault diagnosis method.
Background
The spacecraft system has a complex structure, is composed of numerous devices and components, needs to work in a severe space environment for a long time, is influenced by various environmental factors, and is difficult to avoid the problems in the flight process, so that the fault diagnosis technology is very important in launching and running of the spacecraft system.
The attitude control system is the most complex subsystem in a spacecraft system, the task of the attitude control system is to acquire attitude information of the spacecraft and maintain attitude orientation of the spacecraft in space, once the attitude control system makes a fault in operation, the spacecraft has a great probability of losing attitude and losing control in a short time, and the attitude control system is often fatal to an in-orbit task. The fault diagnosis technology can effectively improve the reliability of the system and enhance the safety and maintainability of the system. Therefore, the fault diagnosis research of the attitude control system has very important significance.
While the spacecraft fault diagnosis technology is rapidly developed, the research of the multi-fault diagnosis method is widely regarded by scholars at home and abroad. The multi-fault problem refers to the fact that multiple fault types of the same type or different types occur in the system at the same time, and the fault diagnosis difficulty is more difficult than that of a single fault, so that the multi-fault diagnosis problem is more difficult to research and has application value, and particularly, the multi-fault diagnosis problem is used for a system such as a spacecraft and the like which needs high reliability.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a multi-fault diagnosis method for a spacecraft attitude control system based on a sliding-mode observer.
The technical scheme adopted by the invention for realizing the purpose is as follows:
a multi-fault diagnosis method for a spacecraft attitude control system based on a sliding-mode observer comprises the following steps:
establishing a spacecraft attitude control system dynamic model, designing a sliding mode observer according to the attitude control system dynamic model, and determining parameters of the sliding mode observer according to a Lyapunov stability principle;
and constructing a fault reconstruction function according to the designed sliding-mode observer, reconstructing the fault and completing fault diagnosis.
The spacecraft attitude control system dynamic model is as follows:
y(t)＝Cx(t)
wherein x (t) is the system state;is the derivative of x (t); y (t) is the system output; d (t) is external interference; u (t) is a control input; g (x (t)) is a system nonlinear function; t is the amount of time; f. ofiAs a function of the ith actuator fault; b isfiAn actuator fault gain matrix; a is a state gain matrix of a state equation in the system; b is a control input gain matrix in a state equation in the system; and C is an output gain matrix of an output equation in the system.
The sliding-mode observer is as follows:
wherein,estimating a vector for the state;estimating a vector for the output; z is a radical ofi(t) is the state vector of the observer;is zi(t) derivative of; y (t) is the output vector, u (t) is the control input; mu.si(t) is a sliding mode fault estimation function;is an estimate of a non-linear function;is an estimate of the external interference; b is a control input matrix; b isfiAn actuator fault gain matrix; fiIs a state observer matrix; t isiIs an input observer matrix; hiIs an output observer matrix; n is a radical ofiIs a adjoint observer matrix; t is the amount of time; i is the actuator symbol for the ith axis.
The observer matrix satisfies the following functional relation:
wherein, I is an identity matrix, and C is an output matrix; b isfiAn actuator fault gain matrix; fiIs a state observer matrix; t isiIs an input observer matrix; hiIs an output observer matrix; n is a radical ofiIs a adjoint observer matrix; kiAn intermediate matrix of appropriate dimensions; i is the actuator symbol for the ith axis and j is the actuator symbol for the jth axis.
The fault reconstruction function is:
wherein, mui(t) is a sliding mode fault estimation function; rhoiThe proportion parameter is generally 0.01-0.1; deltaiIs a very small positive number and is used for slowing down the buffeting effect of the sliding mode; epsiloni(t) is the output observation error, which has a value ofTaking | | as a vector modulo; fiIs a state observer matrix; i is the actuator symbol of the ith axis; t is the amount of time.
The faults include single faults and multiple faults.
The single fault is any one of an X-axis actuator fault, a Y-axis actuator fault and a Z-axis actuator fault.
The single fault includes an X-axis actuator fault, a Y-axis actuator fault, and a Z-axis actuator fault, wherein,
x-axis actuator failure is denoted as μ1＝1,μ2＝0,μ3＝0；
Y-axis actuator failure is expressed as μ1＝0,μ2＝1,μ3＝0；
Z-axis actuator failure is expressed as μ1＝0,μ2＝0,μ3＝1；
Wherein, 1 indicates that the corresponding sliding-mode observer obtains a reconstructed value of the actuator fault; "0" indicates that the sliding mode observer does not obtain the reconstructed value of the actuator fault; mu.s1Representing a fault reconstruction function of the X-axis sliding-mode observer; mu.s2Representing a fault reconstruction function of the Y-axis sliding-mode observer; mu.s3And representing a fault reconstruction function of the Z-axis sliding mode observer.
The multiple faults are simultaneous occurrence of at least two faults of X-axis actuator faults, Y-axis actuator faults and Z-axis actuator faults.
The multiple faults include simultaneous faults of the X-axis actuator and the Y-axis actuator, simultaneous faults of the X-axis actuator and the Z-axis actuator, simultaneous faults of the Y-axis actuator and the Z-axis actuator and simultaneous faults of the X, Y, Z triaxial actuator; wherein,
simultaneous X-axis and Y-axis actuator failure is expressed as μ1＝1,μ2＝1,μ3＝0；
Simultaneous X-and Z-axis actuator failure is denoted as μ1＝1,μ2＝0,μ3＝1；
Simultaneous Y-axis and Z-axis actuator failure is expressed as μ1＝0,μ2＝1,μ3＝1；
X, Y, Z Tri-axial actuator Simultaneous Fault expression μ1＝1,μ2＝1,μ3＝1；
Wherein, 1 indicates that the corresponding sliding-mode observer obtains a reconstructed value of the actuator fault; "0" indicates that the sliding mode observer does not obtain the reconstructed value of the actuator fault; mu.s1Representing a fault reconstruction function of the X-axis sliding-mode observer; mu.s2Representing a fault reconstruction function of the Y-axis sliding-mode observer; mu.s3And representing a fault reconstruction function of the Z-axis sliding mode observer.
The invention has the following beneficial effects and advantages:
according to the invention, the fault diagnosis observer and the multi-fault diagnosis strategy are designed by applying the sliding mode control method, so that fault information and specific fault conditions can be obtained in time after a spacecraft attitude control system breaks down, the influence of external interference on a fault diagnosis result is inhibited, and the buffeting effect of the sliding mode is slowed down, therefore, the system fault diagnosis efficiency can be effectively improved, and the safety and the reliability of spacecraft operation are improved. In addition, under the help of a multi-fault diagnosis strategy, the multi-fault condition of the system actuator can be well diagnosed, the value of the method in practical application is improved, and the method has stronger applicability to the control of a practical attitude control system.
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FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1, which is a flow chart of the method of the present invention, the present invention provides a sliding-mode observer-based spacecraft attitude control system multi-fault diagnosis method, which includes the following steps:
step 1: and (3) establishing a spacecraft attitude control system dynamic model, and considering the external disturbance moment and multi-fault conditions of the system.
The spacecraft attitude control system dynamic model is as follows:
y(t)＝Cx(t)
wherein x (t) is the system state;is the derivative of x (t); y (t) is the system output; d (t) is external interference; u (t) is a control input; g (x (t)) is a system nonlinear function; t is the amount of time; f. ofiAs a function of the ith actuator fault; b isfiAn actuator fault gain matrix; a is a state gain matrix of a state equation in the system; b is a control input gain matrix in a state equation in the system; and C is an output gain matrix of an output equation in the system.
Step 2: a sliding mode observer is designed according to a posture control system dynamic model, and a method for determining parameters of the observer is provided according to a stability principle.
Designing a sliding mode observer according to the spacecraft attitude control system dynamic model, wherein the sliding mode observer is designed as follows:
wherein,estimating a vector for the state;estimating a vector for the output; z is a radical ofi(t) is the state vector of the observer;is zi(t) derivative of; y (t) is the output vector, u (t) is the control input; mu.si(t) is a sliding mode fault estimation function;is an estimate of a non-linear function;is an estimate of the external interference; b is a control input matrix; b isfiAn actuator fault gain matrix; fiIs a state observer matrix; t isiIs an input observer matrix; hiIs an output observer matrix; n is a radical ofiIs a adjoint observer matrix; t is the amount of time; i is the actuator symbol for the ith axis.
And step 3: a method of determining observer parameters is given according to the principle of stability.
Determining the parameters of the sliding-mode observer matrix according to a function relation formula met by the observer matrix:
wherein, I is an identity matrix, and C is an output matrix; b isfiAn actuator fault gain matrix; fiIs a state observer matrix; t isiIs an input observer matrix; hiIs an output observer matrix; n is a radical ofiIs a adjoint observer matrix; kiAn intermediate matrix of appropriate dimensions. i, j are the corresponding actuator symbols.
And 4, step 4: reconstructing the fault by applying a designed sliding-mode observer so as to complete the diagnosis task of a single fault of the system;
and according to the sliding mode observer, reconstructing the fault to complete the diagnosis work of a single fault, wherein the fault reconstruction function is as follows:
wherein, mui(t) is a slip formA barrier estimation function; rhoiThe proportion parameter is generally 0.01-0.1; deltaiIs a very small positive number and is used for slowing down the buffeting effect of the sliding mode; epsiloni(t) is the output observation error, which has a value ofTaking | | as a vector modulo; fiIs a state observer matrix; i is the actuator symbol of the ith axis; t is the amount of time.
And 5: and further designing a multi-fault diagnosis strategy to complete a system multi-fault diagnosis research task.
Designing a multi-fault diagnosis strategy according to the sliding mode observer, wherein the designed multi-fault diagnosis strategy is as follows:
wherein, 1 indicates that the corresponding sliding-mode observer obtains a reconstructed value of the actuator fault; "0" indicates that the sliding mode observer does not obtain the reconstructed value of the actuator fault; mu.s1Representing a fault reconstruction function of the X-axis sliding-mode observer; mu.s2Representing a fault reconstruction function of the Y-axis sliding-mode observer; mu.s3And representing a fault reconstruction function of the Z-axis sliding mode observer.
Claims (10)
1. A multi-fault diagnosis method for a spacecraft attitude control system based on a sliding-mode observer is characterized by comprising the following steps: the method comprises the following steps:
establishing a spacecraft attitude control system dynamic model, designing a sliding mode observer according to the attitude control system dynamic model, and determining parameters of the sliding mode observer according to a Lyapunov stability principle;
and constructing a fault reconstruction function according to the designed sliding-mode observer, reconstructing the fault and completing fault diagnosis.
2. The sliding-mode observer-based spacecraft attitude control system multi-fault diagnosis method according to claim 1, characterized in that the spacecraft attitude control system dynamic model is:
y(t)＝Cx(t)
wherein x (t) is the system state;is the derivative of x (t); y (t) is the system output; d (t) is external interference; u (t) is a control input; g (x (t)) is a system nonlinear function; t is the amount of time; f. ofiAs a function of the ith actuator fault; b isfiAn actuator fault gain matrix; a is a state gain matrix of a state equation in the system; b is a control input gain matrix in a state equation in the system; and C is an output gain matrix of an output equation in the system.
3. The sliding-mode observer-based spacecraft attitude control system multi-fault diagnosis method according to claim 1, characterized in that the sliding-mode observer is:
wherein,estimating a vector for the state;estimating a vector for the output; z is a radical ofi(t) is the state vector of the observer;is zi(t) derivative of; y (t) is the output vector, u (t) is the control input; mu.si(t) is a sliding mode fault estimation function;is an estimate of a non-linear function;is an estimate of the external interference; b is a control input matrix; b isfiAn actuator fault gain matrix; fiIs a state observer matrix; t isiIs an input observer matrix; hiIs an output observer matrix; n is a radical ofiIs a adjoint observer matrix; t is the amount of time; i is the actuator symbol for the ith axis.
4. The multi-fault diagnosis method for the attitude control system of the spacecraft based on the sliding-mode observer according to the claim 3, wherein the observer matrix meets the following functional relation:
wherein, I is an identity matrix, and C is an output matrix; b isfiAn actuator fault gain matrix; fiIs a state observer matrix; t isiIs an input observer matrix; hiIs an output observer matrix; n is a radical ofiIs a adjoint observer matrix; kiAn intermediate matrix of appropriate dimensions; i is the actuator symbol for the ith axis and j is the actuator symbol for the jth axis.
5. The sliding-mode observer-based spacecraft attitude control system multi-fault diagnosis method according to claim 1, characterized in that the fault reconstruction function is:
wherein, mui(t) is a sliding mode fault estimation function; rhoiThe proportion parameter is generally 0.01-0.1; deltaiIs a very small positive number and is used for slowing down the buffeting effect of the sliding mode; epsiloni(t) is the output observation error, which has a value ofTaking | | as a vector modulo; fiIs a state observer matrix; i is the actuator symbol of the ith axis; t is the amount of time.
6. The sliding-mode observer-based spacecraft attitude control system multi-fault diagnosis method according to claim 1, wherein the faults include single faults and multiple faults.
7. The sliding-mode observer-based spacecraft attitude control system multi-fault diagnosis method of claim 6, wherein the single fault is any one of an X-axis actuator fault, a Y-axis actuator fault and a Z-axis actuator fault.
8. The sliding-mode observer-based spacecraft attitude control system multi-fault diagnosis method according to claim 6 or 7, characterized in that the single fault comprises an X-axis actuator fault, a Y-axis actuator fault and a Z-axis actuator fault, wherein,
x-axis actuator failure is denoted as μ1＝1,μ2＝0,μ3＝0；
Y-axis actuator failure is expressed as μ1＝0,μ2＝1,μ3＝0；
Z-axis actuator failure is expressed as μ1＝0,μ2＝0,μ3＝1；
Wherein, 1 indicates that the corresponding sliding-mode observer obtains a reconstructed value of the actuator fault; "0" indicates that the sliding mode observer does not obtain the reconstructed value of the actuator fault; mu.s1Representing a fault reconstruction function of the X-axis sliding-mode observer; mu.s2Representing a fault reconstruction function of the Y-axis sliding-mode observer; mu.s3And representing a fault reconstruction function of the Z-axis sliding mode observer.
9. The sliding-mode observer-based spacecraft attitude control system multi-fault diagnosis method according to claim 6, characterized in that the multi-fault is simultaneous occurrence of at least two faults of X-axis actuator fault, Y-axis actuator fault and Z-axis actuator fault.
10. The sliding-mode observer-based spacecraft attitude control system multi-fault diagnosis method of claim 6 or 9, wherein the multi-fault comprises simultaneous fault of an X-axis actuator and a Y-axis actuator, simultaneous fault of an X-axis actuator and a Z-axis actuator, simultaneous fault of a Y-axis actuator and a Z-axis actuator, and simultaneous fault of an X, Y, Z triaxial actuator; wherein,
simultaneous X-axis and Y-axis actuator failure is expressed as μ1＝1,μ2＝1,μ3＝0；
Simultaneous X-and Z-axis actuator failure is denoted as μ1＝1,μ2＝0,μ3＝1；
Simultaneous Y-axis and Z-axis actuator failure is expressed as μ1＝0,μ2＝1,μ3＝1；
X, Y, Z Tri-axial actuator Simultaneous Fault expression μ1＝1,μ2＝1,μ3＝1；
Wherein, 1 indicates that the corresponding sliding-mode observer obtains a reconstructed value of the actuator fault; "0" indicates that the sliding mode observer does not obtain the reconstructed value of the actuator fault; mu.s1Representing a fault reconstruction function of the X-axis sliding-mode observer; mu.s2Representing a fault reconstruction function of the Y-axis sliding-mode observer; mu.s3And representing a fault reconstruction function of the 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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| 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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Application publication date: 20190305 |
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