CN112305917A - Fixed time terminal sliding mode robust fault-tolerant control method and device for liquid-filled spacecraft - Google Patents

Fixed time terminal sliding mode robust fault-tolerant control method and device for liquid-filled spacecraft Download PDF

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CN112305917A
CN112305917A CN202011214380.0A CN202011214380A CN112305917A CN 112305917 A CN112305917 A CN 112305917A CN 202011214380 A CN202011214380 A CN 202011214380A CN 112305917 A CN112305917 A CN 112305917A
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liquid
spacecraft
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filled spacecraft
filled
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宋晓娟
王宏伟
吕书锋
王颖
任月颖
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Inner Mongolia University of Technology
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Abstract

The embodiment of the invention discloses a fixed time terminal sliding mode robust fault-tolerant control method and device of a liquid-filled spacecraft. The method comprises the following steps: constructing a coupling dynamic model of the liquid-filled spacecraft based on a viscous spherical pendulum model of liquid shaking; and designing a robust self-adaptive fault-tolerant control strategy for the coupling dynamics model based on a fixed time control strategy and a self-adaptive control algorithm. The scheme provided by the invention can overcome the singularity problem in the terminal sliding mode control scheme, and simultaneously ensure that the state of the liquid-filled spacecraft is quickly converged to the fixed time sliding mode surface.

Description

Fixed time terminal sliding mode robust fault-tolerant control method and device for liquid-filled spacecraft
Technical Field
The invention relates to the field of spacecraft research, in particular to a sliding mode robust fault-tolerant control method and device for a fixed time terminal of a liquid-filled spacecraft.
Background
The mass of liquid fuel propellant carried by modern spacecraft accounts for the increasing proportion of the total mass of the spacecraft, and because of the geometrical shape of a liquid storage cavity and the complexity of the external environment of the spacecraft, the shaking force and shaking moment generated by liquid fuel have obvious influence on the overall system dynamics, so that the generated liquid shaking dynamics and attitude control become one of the important problems in the field of aerospace industry. When a control system of a liquid-filled spacecraft is designed and stability is analyzed, an equivalent mechanical model is usually incorporated into a coupling system modeling process, and common equivalent models include a spherical pendulum model and a spring mass model.
Modern space missions require spacecraft systems to implement various high-precision, fast global response attitude maneuver instructions. At present, most control strategies only consider external unknown interference and uncertain influences of parameters, and assume that components of a spacecraft system cannot be failed or failed, but the actual working environment is usually complicated and severe, and long-time workload is easy to cause aging of an actuating mechanism and a sensor, so that actuator failure caused by the aging is also an inevitable problem in the actual control system, and if the designed attitude controller does not have any fault-tolerant capability, serious performance degradation and system instability are likely to cause failure of a space mission. Therefore, the study on the fault-tolerant control of the attitude of the spacecraft is widely concerned by the scholars.
In addition to considering actuator faults in a spacecraft closed-loop system, attention should be paid to actuator input saturation, which causes serious differences between command input signals and actual control torques. When the actuator reaches the input limit, any desired control input signal will cause the actuator to saturate quickly, thereby reducing the dynamic performance of the system and causing instability in the closed loop system. Therefore, the problem of input saturation in the research control system has both theoretical and practical significance.
The existing controller can ensure the asymptotic stability or the limited time stability of the spacecraft system. In contrast to a gradual settling controller, finite time control may settle a system state to an equilibrium position for a finite time. In addition to faster convergence speed, closed-loop systems under time-limited control generally exhibit higher control accuracy and better interference rejection. Although the settling time of the system state can be accurately estimated under the finite time control, the upper limit of the settling time depends on the initial state of the system, which means that it is difficult to obtain an accurately estimated convergence time upper limit when the initial state of the system is unknown. Compared with the finite time control strategy, the upper limit of the stable time of the fixed time control does not depend on the initial state of the system, but only depends on the control parameters, and meanwhile, the good control performance of the finite time can be kept, which causes great interest to many scholars in the fixed time control.
However, at present, no perfect fault-tolerant control method for large-angle attitude maneuver fixed time of the liquid-filled spacecraft with actuator failure and input saturation exists.
Disclosure of Invention
In order to solve the technical problems, embodiments of the present invention desirably provide a fixed-time terminal sliding mode robust fault-tolerant control method and apparatus for a liquid-filled spacecraft, which can overcome the singularity problem in a terminal sliding mode control scheme, and simultaneously ensure that the state of the liquid-filled spacecraft is rapidly converged to a fixed-time sliding mode surface.
The technical scheme of the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides a sliding mode robust fault-tolerant control method for a fixed time terminal of a liquid-filled spacecraft, including:
constructing a coupling dynamic model of the liquid-filled spacecraft based on a viscous spherical pendulum model of liquid shaking;
and designing a robust self-adaptive fault-tolerant control strategy for the coupling dynamics model based on a fixed time control strategy and a self-adaptive control algorithm.
Optionally, the coupling dynamics model includes a system dynamics equation of the liquid-filled spacecraft, an actuator fault model of the liquid-filled spacecraft, and an attitude dynamics equation of the liquid-filled spacecraft.
Optionally, constructing a system dynamics equation of the liquid-filled spacecraft includes:
determining a Lagrangian function L of the liquid-filled spacecraft;
determining a system dynamic equation of the liquid-filled spacecraft according to the Lagrangian function L of the liquid-filled spacecraft, the Lagrangian formula under the quasi-coordinate and the Lagrangian formula under the generalized coordinate
Figure BDA0002759860840000031
Wherein L is T-VpT is kinetic energy of the liquid-filled spacecraft, VpThe gravitational potential energy is generated by the spherical pendulum motion of the liquid-filled spacecraft; the Lagrangian formula under quasi-coordinates is
Figure BDA0002759860840000032
u is the desired control torque acting on the liquid-filled spacecraft, d (t) is the external disturbance torque acting on the liquid-filled spacecraft; the Lagrange formula under the generalized coordinate is
Figure BDA0002759860840000033
Is the viscous moment of the pendulum about its suspension point, c1、c2Respectively representing viscosity coefficients of the liquid fuel, wherein eta is a generalized coordinate vector for describing liquid sloshing;
Figure BDA0002759860840000034
mpthe mass of the ball pendulum is shown, and g is the inertia acceleration of the liquid-filled spacecraft.
Optional, actuator fault model for liquid-filled spacecraft
Figure BDA0002759860840000035
Wherein u is the actual control moment vector acting on the liquid-filled spacecraft, ucControlling a torque vector for the command; d (t) ═ diag { e1,e2,e3Describing the efficiency loss of the actuator, its diagonal element satisfies 0 ≦ e i1, i ≦ 1,2,3, case e i0 means that the ith actuator is completely out of order and cannot provide the control torque acting on the spacecraft; case 0 < ei< 1 indicates that the ith actuator part failed, but still could provide control torque; case e i1 indicates that the ith actuating mechanism works normally;
Figure BDA0002759860840000036
indicating an additional deviation fault.
Optionally, attitude dynamics equation of liquid-filled spacecraft
Figure BDA0002759860840000037
Where ψ is a variable, sat (u)c) Represents the nonlinear saturation characteristic of the actuator, and the form of the nonlinear saturation characteristic can be written as sat (u)c)＝Θ(uc)·uc，Θ(uc)＝diag{Θ(uc1),Θ(uc2),Θ(uc3)}，Θ(uc) Is an indicator of the saturation of the control vector,
Figure BDA0002759860840000038
Δ J is a parameter uncertainty matrix.
Optionally, designing a robust adaptive fault-tolerant control strategy for the coupling dynamics model includes:
and designing a fixed time sliding mode surface and a fixed time controller for the coupling dynamic model.
Optionally, after designing a robust adaptive fault-tolerant control strategy for the coupling dynamics model, the method further includes:
and verifying the effectiveness and robustness of the robust adaptive fault-tolerant control strategy.
Optionally, verifying the effectiveness and robustness of the robust adaptive fault-tolerant control strategy includes:
and simulating the robust adaptive fault-tolerant control strategy by adopting a numerical method to obtain a simulation result.
In a second aspect, an embodiment of the present invention provides a sliding mode robust fault-tolerant control apparatus for a fixed time terminal of a liquid-filled spacecraft, including: a processor for implementing, when executing a computer program, a fixed-time terminal sliding-mode robust fault-tolerant control method for a liquid-filled spacecraft having any of the features of the first aspect described above.
In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a fixed-time terminal sliding-mode robust fault-tolerant control method for a liquid-filled spacecraft, which has any of the features of the first aspect.
The embodiment of the invention takes a three-axis stable liquid-filled spacecraft as a research background, fully considers the influences of factors such as external unknown interference, parameter uncertainty, actuator fault, control input saturation and the like in the attitude maneuver control process, and provides a fixed time terminal sliding mode robust fault-tolerant control method and device of the liquid-filled spacecraft. In the dynamic modeling process, a viscous ball pendulum equivalent mechanical model is used for simulating small-amplitude shaking of liquid fuel, and a coupling dynamic model of the spacecraft is deduced through a Lagrange equation. In the design process of the attitude controller, firstly, a fixed time sliding mode surface is constructed, so that the time for stabilizing the sliding mode surface to a balance position is irrelevant to the initial state of a system (namely a liquid-filled spacecraft system), and the upper limit of the stabilization time of the system only depends on control parameters; and then, a self-adaptive fixed time fault-tolerant control law is provided by combining a fixed time control theory and a self-adaptive estimation algorithm, wherein the self-adaptive algorithm is used for estimating the unknown upper bound of the lumped disturbance of the system. The proposed control strategy adopts a saturation function to overcome the singularity problem existing in the terminal sliding mode control scheme, and meanwhile, the system state is ensured to be rapidly converged to the fixed time sliding mode surface. According to Lyapunov stability theory, the system state can be converged to a small neighborhood of an origin point within a fixed time, namely the final consistency and the boundedness of the fault-tolerant closed-loop system state, and the attitude and the angular speed of the spacecraft can be converged to the small neighborhood of an equilibrium position within the fixed time. And the effectiveness and robustness of the control method provided by the invention are verified by a comparative numerical simulation method.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic flow chart of a fixed-time terminal sliding-mode robust fault-tolerant control method for a liquid-filled spacecraft according to an embodiment of the present invention;
FIG. 2 is a kinetic model of a liquid-filled spacecraft in accordance with an embodiment of the present invention;
fig. 3 is a schematic flow chart of another fixed-time terminal sliding-mode robust fault-tolerant control method for a liquid-filled spacecraft according to an embodiment of the present invention;
fig. 4-8 are simulation results of numerical simulation studies performed by using the solution of the present invention according to a first embodiment of the present invention;
fig. 9-11 are simulation results of numerical simulation studies performed by using an adaptive finite time fault-tolerant controller designed for a rigid body spacecraft according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of a sliding-mode robust fault-tolerant control device for a fixed-time terminal of a liquid-filled spacecraft according to a second embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "system" and "network" are often used interchangeably herein in the present invention. Reference to "and/or" in embodiments of the invention is intended to include any and all combinations of one or more of the associated listed items. The terms "first", "second", and the like in the description and claims of the present invention and in the drawings are used for distinguishing between different objects and not for limiting a particular order.
It should be noted that the following embodiments of the present invention may be implemented individually, or may be implemented in combination with each other, and the embodiments of the present invention are not limited in this respect.
Example one
Fig. 1 is a schematic flow chart of a fixed time terminal sliding mode robust fault-tolerant control method for a liquid-filled spacecraft according to an embodiment of the present invention. As shown in fig. 1, the method may include the steps of:
s110, constructing a coupling dynamic model of the liquid-filled spacecraft based on the viscous spherical pendulum model of the liquid shaking.
The coupling dynamic model comprises a system dynamic equation of the liquid-filled spacecraft, an actuator fault model of the liquid-filled spacecraft and an attitude dynamic equation of the liquid-filled spacecraft.
Specifically, in consideration of the advantages of good calculation performance and singularity overcoming, the method uses quaternions to describe the spacecraft attitude kinematics equation, and the equation is expressed as follows:
Figure BDA0002759860840000061
in the formula: e (q) ═ q0I3+q×，
[q0 q]T＝[q0 q1 q2 q3]TSatisfies the constraint condition q0 2+qTq is 1, and the spacecraft angular velocity vector ω is [ ω ═ ω [ [ ω ]1ω2 ω3]T，q×Is a cross-multiplication matrix and is defined as:
Figure BDA0002759860840000062
in one embodiment, constructing the system dynamics equations for a liquid-filled spacecraft comprises the steps of:
determining a Lagrangian function L of the liquid-filled spacecraft;
determining a system dynamic equation of the liquid-filled spacecraft according to the Lagrangian function L of the liquid-filled spacecraft, the Lagrangian formula under the quasi-coordinate and the Lagrangian formula under the generalized coordinate
Figure BDA0002759860840000063
Wherein L is T-VpT is kinetic energy of the liquid-filled spacecraft, VpTo chargeGravitational potential energy generated by the spherical pendulum motion of the liquid spacecraft; the Lagrangian formula under quasi-coordinates is
Figure BDA0002759860840000071
u is the desired control torque acting on the liquid-filled spacecraft, d (t) is the external disturbance torque acting on the liquid-filled spacecraft; the Lagrange formula under the generalized coordinate is
Figure BDA0002759860840000072
Is the viscous moment of the pendulum about its suspension point, c1、c2Respectively representing viscosity coefficients of the liquid fuel, wherein eta is a generalized coordinate vector for describing liquid sloshing;
Figure BDA0002759860840000073
mpthe mass of the ball pendulum is shown, and g is the inertia acceleration of the liquid-filled spacecraft.
Specifically, fig. 2 is a dynamic model of a liquid-filled spacecraft according to an embodiment of the present invention. Fig. 2(a) is a simplified schematic diagram of a spacecraft, and fig. 2(b) is an equivalent spherical pendulum model of liquid shaking. O-XYZ is an inertial reference frame, O1-X1Y1Z1Is a spacecraft body coordinate system, where O1The dots represent the geometric center of the entire system. O is2-X2Y2Z2Is a ball pendulum coordinate system, and a pendulum ball suspension point is a storage box center O2Make the ball pendulum hang at the point O2O located in spacecraft body coordinate system1X1On the shaft, the pendulum length of the pendulum is l, and the pendulum mass is mp，O1To O2Has a displacement vector of ro＝[-r x 0 0]T，rxIs O1To O2The distance of (c). Assuming that the position of the pendulum mass in the figure is point P, the fuel sloshing mass point P is relative to point O1Is a displacement vector rpExpressed as:
rp＝r0+r (3)
point P relative to pendulum ball suspension point O2Is r, r is related to O2The displacement vector of a point can be expressed as:
Figure BDA0002759860840000074
because the swinging of the ball pendulum is limited by the pendulum length and the size of the storage tank, the liquid is supposed to swing in a small amplitude in the invention, namely the relation y is satisfied, z is less than l, and therefore, the approximate relation x is approximately equal to-l. Equation (4) can be written as:
r＝[-l y z]T (5)
according to equation (3), the velocity of point P is expressed as:
Figure BDA0002759860840000075
the kinetic energy of the system is expressed as:
Figure BDA0002759860840000081
in the formula: j. the design is a squarehubIs the nominal moment of inertia of the main rigid body.
Writing equation (7) in matrix form:
Figure BDA0002759860840000082
in the formula: j is Jhub-mprp ×rp ×，η＝[y z]TA generalized coordinate vector describing the liquid sloshing.
Figure BDA0002759860840000083
The gravitational potential energy generated by the motion of the ball pendulum is expressed as:
Figure BDA0002759860840000084
in the formula: g represents the magnitude of the inertial acceleration of the spacecraft.
The lagrange function of the system is:
L＝T-Vp (10)
the lagrange formula under quasi-coordinates is expressed as:
Figure BDA0002759860840000085
in the formula: u is the desired control moment acting on the spacecraft and d (t) is the external disturbance moment acting on the spacecraft.
The lagrange formula under generalized coordinates is expressed as:
Figure BDA0002759860840000086
in the formula:
Figure BDA0002759860840000087
is the viscous moment of the pendulum about its suspension point, where c1，c2Which represents the viscosity coefficient of the liquid fuel.
Substituting equation (10) for equations (11) and (12), respectively, yields the following system dynamics equations:
Figure BDA0002759860840000088
Figure BDA0002759860840000089
in the formula:
Figure BDA0002759860840000091
in one embodiment, a liquid-filled spacecraft is providedLine fault model
Figure BDA0002759860840000092
Wherein u is the actual control moment vector acting on the liquid-filled spacecraft, ucControlling a torque vector for the command; d (t) ═ diag { e1,e2,e3Describing the efficiency loss of the actuator, its diagonal element satisfies 0 ≦ e i1, i ≦ 1,2,3, case e i0 means that the ith actuator is completely out of order and cannot provide the control torque acting on the spacecraft; case 0 < ei< 1 indicates that the ith actuator part failed, but still could provide control torque; case e i1 indicates that the ith actuating mechanism works normally;
Figure BDA0002759860840000093
indicating an additional deviation fault.
In particular, reaction wheels and thrusters are actuators commonly used for spacecraft attitude control. Actuators inevitably fail due to insufficient lubrication, aging, edge failure, increased friction, and the like. The following are four typical reaction wheel failures: (1) the reaction torque is reduced; (2) the bias moment is increased; (3) no response to the control signal; (4) reaction torque is continuously generated. These faults may affect the output efficiency of the actuator in a multiplicative or additive manner. If one of these faults occurs, the reaction wheel response may slow, reducing the effectiveness of the actuator operation, or even causing a safety failure.
Let ucRepresenting a commanded control torque vector. The relationship between the commanded control torque vector and the actual control torque vector acting on the spacecraft may be expressed as:
Figure BDA0002759860840000094
in the formula: d (t) ═ diag { e1,e2,e3Describing the efficiency loss of the actuator, its diagonal element satisfies 0 ≦ e i1, i is equal to or less than 1,2 and 3. Case e i0 means that the ith actuator is completely out of order and cannot provide the control torque acting on the spacecraft; case 0 < ei< 1 indicates that the ith actuator part failed, but still could provide control torque; case eiThe ith actuator works normally as indicated by 1.
Figure BDA0002759860840000095
Indicating an additional deviation fault.
In one embodiment, the attitude dynamics equation of a liquid-filled spacecraft
Figure BDA0002759860840000096
Where ψ is a variable, sat (u)c) Represents the nonlinear saturation characteristic of the actuator, and the form of the nonlinear saturation characteristic can be written as sat (u)c)＝Θ(uc)·uc，Θ(uc)＝diag{Θ(uc1),Θ(uc2),Θ(uc3)}，Θ(uc) Is an indicator of the saturation of the control vector,
Figure BDA0002759860840000101
Δ J is a parameter uncertainty matrix.
Specifically, under the condition that the liquid fuel is assumed to be sloshing with a small amplitude, the equations (13) and (14) can be linearized, i.e., the high-order small quantities in the equations (13) and (14) are omitted. Meanwhile, for the convenience of derivation of the control system, a new variable ψ is introduced for equation (14), the obtained equation is combined with equation (15), and finally the attitude dynamics model of the spacecraft is expressed as:
Figure BDA0002759860840000102
Figure BDA0002759860840000103
Figure BDA0002759860840000104
Figure BDA0002759860840000105
in the formula: sat (u)c) Represents the nonlinear saturation characteristic of the actuator, and the form of the nonlinear saturation characteristic can be written as sat (u)c)＝Θ(uc)·ucWherein Θ (u)c)＝diag{Θ(uc1),Θ(uc2),Θ(uc3)}。Θ(uc) Can be regarded as a saturation indicator of the control vector. From the practical application point of view, Θ (u)ci) Never equals zero, i ═ 1,2,3, and there is a small lower bound, making Θ (u)ci) Satisfies the formula (u)ci)∈(0,1]And there is a constant κ such that 0 < κ ≦ min { Θ (u)1),Θ(u2),Θ(u3) 1 is true.
Figure BDA0002759860840000106
In the formula: Δ J is a parameter uncertainty matrix.
Assume 1 that the parameter uncertainty matrix Δ J and the external unknown disturbance d (t) are bounded variables, such that there are two normal numbers
Figure BDA0002759860840000107
And Δ d, the norm of which satisfies the relationship
Figure BDA0002759860840000108
And | | d (t) | | | is less than or equal to delta d.
Hypothesis 2 uncertain fault
Figure BDA00027598608400001010
Is an unknown but bounded variable, so satisfied
Figure BDA0002759860840000109
Δ u is a normal number.
The control objectives of the present invention are described as: considering the problems of external unknown interference, uncertain parameters, actuator faults and control input saturation in a liquid-filled spacecraft model formula (16), a saturated robust fault-tolerant control strategy is designed, and for the attitude and the angular velocity of any initial position:
(1) all status signals in the fault tolerant closed loop system are eventually consistently bounded (GUUB).
(2) The designed nonsingular sliding mode manifold converges to a smaller neighborhood of s (t) 0 in a fixed time.
(3) The attitude q and the angular velocity ω converge to a small neighborhood of the origin within a fixed time.
And S120, designing a robust adaptive fault-tolerant control strategy for the coupling dynamics model based on a fixed time control strategy and an adaptive control algorithm.
In one embodiment, a robust adaptive fault-tolerant control strategy is designed for a coupled dynamics model, and the robust adaptive fault-tolerant control strategy comprises the following steps: and designing a fixed time sliding mode surface and a fixed time controller for the coupling dynamic model.
Specifically, for the following simplicity of controller design, the following notation is defined:
sigγ(x)＝[|x1|γsgn(x1)|x2|γsgn(x2)|x3|γsgn(x3)]Tin the formula: x is an element of [ x ∈ ]1 x2 x3]TSgn (·) denotes a sign function, and γ is a normal number.
Consider a nonlinear system:
Figure BDA0002759860840000111
in the formula: x (t) is a state vector, and f (x (t)) is a non-linear function.
The definitions and lemmas used in the controller design and stability analysis are given below.
Definition 1: if system equation (18) is time-limited stable and its stable time T (x)0) Is consistently bounded, i.e. there is one positive scalar TmaxAnd satisfies T (x)0)≤TmaxThen the system formula (18) is stable for a fixed timeIn (1).
Lemma 1, system equation (18) is fixed time stable, such that there is a positive function
Figure BDA0002759860840000112
Satisfies the following conditions:
Figure BDA0002759860840000113
in the formula: alpha is alpha1，β1，χ，r1＞1，0＜r2< 1 is a normal number.
The required finite time TmaxThe definition is:
Figure BDA0002759860840000114
lemma 2, consider the following differential equation:
Figure BDA0002759860840000115
in the formula: alpha is more than 0, beta is more than 0, and m, n, p and r are positive odd integers, satisfying m is more than n, and p is less than r. The convergence of the system equation (20) to the equilibrium position is constant for a fixed time, the settling time TRSatisfies the following conditions:
Figure BDA0002759860840000116
lemma 3, for all real numbers xi1,2,3, n and 0 < γ < 1, the following inequality holds:
(|x1|+...+|xn|)γ＜|x1|γ+...+|xn|γ (21)
wherein designing a fixed-time sliding-mode surface for the coupled dynamics model may include:
inspired by lemma 2, considering the liquid filled spacecraft system model (16), the fixed-time sliding mode surface is designed as:
Figure BDA0002759860840000121
in the formula: alpha is alpha1＞0，β1Is > 0 and m1，n1，p1，r1Is a positive odd integer and satisfies m1＞n1，p1＜r1。
Theorem 1: when the sliding mode surface of the equation (22) converges to the equilibrium position, that is, when S is satisfied as 0, the posture q and the angular velocity ω converge to the equilibrium position within a fixed time.
Evidence: when formula (22) satisfies S ═ 0, it can be obtained:
Figure BDA0002759860840000122
consider the lyapunov function:
Figure BDA0002759860840000123
the first derivative with respect to time is obtained by taking equation (24) and substituting equation (23):
Figure BDA0002759860840000124
in the formula:
Figure BDA0002759860840000125
from lemma 2, the attitude q converges to the equilibrium position within a fixed time. Constraint relationship q according to equation (1) and quaternionTq+q0 2As is available as 1, the number of copies,
Figure BDA0002759860840000126
reach equilibrium position in a fixed time, which will result in ω being fixedConverge to an equilibrium position within the interval. Therefore, when equation (23) reaches the equilibrium position, the attitude q and the angular velocity ω converge to the equilibrium position within a fixed time. After the syndrome is confirmed.
The upper bound of the arrival time is:
Figure BDA0002759860840000131
it is noted that the first derivative of equation (22) is obtained:
Figure BDA0002759860840000132
note that formula (26) contains
Figure BDA0002759860840000133
When q is 0, the term "q",
Figure BDA0002759860840000134
when the time comes, a singular problem occurs.
Wherein designing the fixed-time controller for the coupled dynamics model may include:
formula (16a) and formula (16b) may be substituted for formula (26):
Figure BDA0002759860840000135
in the formula:
Figure BDA0002759860840000136
Figure BDA0002759860840000137
according to hypothesis 1, assuming 2 and | q | ≦ 1, and | e (q) | ≦ 1, the following reasonable inequalities may be obtained:
Figure BDA0002759860840000138
in the formula: k is a radical of1，k2And k3Is a normal number.
Since 0 < ei(t)≤1，0＜Θ(uci) 1, so the following inequality is reasonable:
0＜ρ≤min(ei(t)Θ(uci))≤1 (29)
the fixed time controller is designed as follows:
Figure BDA0002759860840000139
Figure BDA00027598608400001310
the self-adaptive updating law design is as follows:
Figure BDA0002759860840000141
Figure BDA0002759860840000142
Figure BDA0002759860840000143
Figure BDA0002759860840000144
in the formula: k, lambda1，χ1，λ2，χ2，λ3，χ3，χ4Is a normal number.
Figure BDA0002759860840000145
Are each k1，k2，k3An estimate of ρ. sat (. cndot.) isSaturation function, here design sat (u)f,us) With the aim of compensating for ufThe singularity brought about. u. ofsRepresenting the threshold parameter of the saturation function.
Theorem 2: the problems of external unknown interference, uncertain parameters, actuator faults and saturated control input existing in the spacecraft system formula (16) are considered. Under the condition that the assumption 1 and the assumption 2 are satisfied, if the fixed time control law (30) and the adaptive update laws (32) - (35) are designed, the state trajectory of the spacecraft closed-loop system is stable in fixed time.
Evidence: consider the lyapunov function:
Figure BDA0002759860840000146
in the formula:
Figure BDA0002759860840000147
the first derivative over time is given by equation (36):
Figure BDA0002759860840000148
substituting equations (30) to (35) into equation (37) can yield:
Figure BDA0002759860840000149
Figure BDA0002759860840000151
consider the following inequality
Figure BDA0002759860840000152
Figure BDA0002759860840000153
Figure BDA0002759860840000154
Figure BDA0002759860840000155
In the formula:
Figure BDA0002759860840000156
note that equation (38) contains the term ρ sat (u)f,us)+ufTo facilitate proof of theorem 1, the state vector [ q ω]TDivided into two distinct regions a and B, defined as follows:
Figure BDA0002759860840000157
Figure BDA0002759860840000158
when the system state [ q ω [ omega ] ]]TWhile in region a, the saturation function in equation (38) may be rewritten as:
Figure BDA0002759860840000159
when the system state is in region B, the saturation function can be written as:
ρsat(uf,us)＝ussign(uf) (46)
according to equation (16a), it is possible to obtain:
Figure BDA0002759860840000161
if ω (t) > 0 and E (q) > 0 hold, q (t) increases the monotone and leaves the singular region B. If ω (t) < 0 and E (q) < 0 hold, q (t) reduces monotonicity and will also leave the singular region B. This means that the state of the system will briefly be in the singular region B, whether q (t) is increasing or decreasing. In other words, the system state does not stay in the B-region forever, but transitions from the B-region to the a-region within a limited time. Once system state [ q ω [ ]]TEntering region a, the system will satisfy the existence condition of the sliding mode. Therefore, the presence of the singular region does not affect the analysis of the system stability.
From the above analysis, and in combination with equations (39) - (42), equation (38) can be written as:
Figure BDA0002759860840000162
in the formula:
Figure BDA0002759860840000163
Figure BDA0002759860840000164
according to the theory of consistent and bounded nature, S,
Figure BDA0002759860840000165
and
Figure BDA0002759860840000166
is uniformly bounded, and q and omega are also bounded according to the form of a fixed-time sliding mode surface, so that an inequality k1+k2||ω||+k3||ω||2Zeta is reasonable.
To demonstrate the fixed-time stability of the system, consider the following lyapunov function:
Figure BDA0002759860840000167
by taking the first derivative of equation (49) with respect to time, the following equations (30) - (34) can be combined:
Figure BDA0002759860840000168
Figure BDA0002759860840000171
from the above analysis, equation (50) can be further written as:
Figure BDA0002759860840000172
in the formula:
Figure BDA0002759860840000173
according to the lemma 1 and the formula (51), the trajectory of the terminal sliding mode surface formula (22) is stable in fixed time, and the convergence region is:
Figure BDA0002759860840000174
the stabilization time is as follows:
Figure BDA0002759860840000175
thus, the upper bound of the total convergence time is:
Figure BDA0002759860840000176
after the syndrome is confirmed.
It should be noted that the upper limit of the settling time for the system state to reach the equilibrium position is determined by equation (54) and is not dependent on the initial value of the system state. When the initial value of the system state is unknown, compared with the finite time control strategy, the stability time of the control strategy provided by the invention can be converged according to a specified mode.
On the basis of the foregoing embodiment, fig. 3 is a schematic flow chart of another fixed-time terminal sliding-mode robust fault-tolerant control method for a liquid-filled spacecraft according to an embodiment of the present invention. As shown in fig. 3, after the step S120 is completed, the method may further include the following steps:
and S130, verifying the effectiveness and robustness of the robust adaptive fault-tolerant control strategy.
In one embodiment, the method for verifying the effectiveness and robustness of the robust adaptive fault-tolerant control strategy may include: and simulating the robust adaptive fault-tolerant control strategy by adopting a numerical method to obtain a simulation result.
Specifically, in order to verify the effectiveness and robustness of the control method provided by the invention, a self-adaptive finite-time fault-tolerant control method is selected for comparative analysis, and simulation results under two control strategies are provided. For a fair and effective comparison, the two control strategies were subjected to numerical simulation studies in the environment of the liquid-filled spacecraft control system equation (16). The specific parameters selected are as follows:
nominal moment of inertia for rigid-body spacecraft
Figure BDA0002759860840000181
In the simulation, the spacecraft was assumed to be subject to external disturbances of
Figure BDA0002759860840000182
In the formula: rand (3,1) represents an arbitrary gaussian white noise vector. Uncertain inertia matrix Δ J equal to 0.5Jhub。
The effectiveness of the actuator is:
Figure BDA0002759860840000183
Figure BDA0002759860840000184
Figure BDA0002759860840000185
controller parameter selection k is 10, m1＝m2＝11，n1＝n2＝r1＝r2＝7，p1＝p2＝5，α1＝0.8，β1＝1。λi＝0.1，χi＝0.09，i＝1,2,3,4，us＝5。
The liquid fuel related parameter is selected as mp＝200kg，l＝0.228m，rx＝2m，c1＝c2＝0.5，g＝7.689m/s2。
Initial value omega (0) of angular speed of spacecraft is [000 ]]Trad/s, estimated controller parameter initial value
Figure BDA0002759860840000186
The initial attitude quaternion error is q (0) ═ 0.1763-0.52640.26320.7896]T。
Limiting the magnitude of the control moment to | ui|≤6Nm，i＝1,2,3。
The detailed simulation results of the two control strategies are shown in case one and case two.
The first situation is as follows: numerical simulation studies were performed using controller equation (30), and the simulation results are shown in fig. 4-8.
Case two: numerical simulation research is carried out by adopting the self-adaptive finite time fault-tolerant controller designed for the rigid body spacecraft, and simulation results are shown in figures 9-11.
(1) Fig. 4 and 9 show the angular velocity response diagrams in the two cases, respectively. As can be seen from the figure, under the action of the controller equation (30), the time of about 16s is required for the angular velocity to converge to the equilibrium position, and in the steady state response interval, the final error precision is | ωi|≤5×10-5rad·s-1. As can be seen from fig. 9It takes about 22s for the angular velocity to converge to the equilibrium position under the control of the controller, and the final error precision in the steady-state interval is | ωi|≤2×10-3rad·s-1. Comparing the response of angular velocity in the transient response interval for the two cases, fig. 4 possesses a relatively good transient response compared to fig. 9.
(2) Fig. 5 and 10 show the response diagrams of the attitude quaternion in two cases, respectively. As can be seen from FIG. 5, under the action of the controller designed by the present invention, the attitude takes about 16s to converge to the desired equilibrium position, and has relatively good transient response in the process of transition to the steady state interval, and the final error precision is | q in the steady state response intervali|≤2×10-5. As can be seen from fig. 10, under the action of the designed controller, it takes about 28s for the attitude to converge to the desired equilibrium position, and the final steady-state error accuracy is | qi|≤5×10-3。
(3) Fig. 8 and 11 show the control torque response in two cases, respectively. It can be easily seen by comparing fig. 8 and 11 that the time for the control torque to converge to the equilibrium position is much longer in fig. 11 than in fig. 8, and the situation depicted in fig. 8 has a relatively smooth and steady characteristic. Fig. 6 gives estimated values of control parameters in the controller. FIG. 7 shows a time history of a liquid sloshing displacement variable, and it can be seen from FIG. 7 that the liquid sloshing variable has lower levels of sloshing amplitude | y | ≦ 0.03m and | z | ≦ 0.01 m.
Under the conditions of same external unknown interference, uncertain parameters, actuator failure and saturated control input, the system performance convergence indexes under two conditions are compared to draw a conclusion: the controller (30) of the present invention has better control performance than the prior art.
The embodiment of the invention provides a fixed time terminal sliding mode robust fault-tolerant control method of a liquid-filled spacecraft, which comprises the following steps: constructing a coupling dynamic model of the liquid-filled spacecraft based on a viscous spherical pendulum model of liquid shaking; and designing a robust self-adaptive fault-tolerant control strategy for the coupling dynamics model based on a fixed time control strategy and a self-adaptive control algorithm. The method takes a three-axis stable liquid-filled spacecraft as a controlled research object, liquid shaking in a part of liquid-filled storage tanks is equivalent to a viscous spherical pendulum model, and a coupling dynamic model of the liquid-filled spacecraft is established by utilizing a Lagrange equation. Aiming at the robust fault-tolerant attitude maneuver problems of external unknown interference, uncertain parameters, actuator faults and input saturation, the method for controlling the fault-tolerant attitude of the self-adaptive robust fixed time terminal is provided based on a fixed time control theory and a self-adaptive estimation strategy on the basis of constructing a novel fixed time terminal sliding mode surface. The method adopts the saturation function to overcome the singularity problem existing in the designed terminal sliding mode control, and meanwhile, the fixed time convergence performance of a closed-loop system can be ensured. In order to verify the effectiveness and robustness of the control method, a numerical method is adopted to carry out simulation comparison research on the control strategy provided by the invention and the existing finite time control method, and simulation results show that the controller designed by the invention can provide better convergence speed, pointing accuracy and fault-tolerant capability.
Example two
The embodiment of the invention also provides a sliding mode robust fault-tolerant control device for a fixed time terminal of a liquid-filled spacecraft, which comprises the following components: a processor for implementing, when executing a computer program, a fixed-time terminal sliding-mode robust fault-tolerant control method for a liquid-filled spacecraft having any of the features of the embodiments described above.
Fig. 12 is a schematic structural diagram of a fixed-time terminal sliding-mode robust fault-tolerant control apparatus for a liquid-filled spacecraft according to a second embodiment of the present invention, and as shown in fig. 12, the fixed-time terminal sliding-mode robust fault-tolerant control apparatus for a liquid-filled spacecraft includes a processor 20, a memory 21, an input apparatus 22, and an output apparatus 23; the number of the processors 20 in the fixed time terminal sliding mode robust fault-tolerant control device of the liquid-filled spacecraft can be one or more, and one processor 20 is taken as an example in fig. 12; the processor 20, the memory 21, the input device 22 and the output device 23 in the fixed-time terminal sliding-mode robust fault-tolerant control device of the liquid-filled spacecraft may be connected by a bus or in other ways, and the bus connection is taken as an example in fig. 12. A bus represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures.
The memory 21 is a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the methods in the embodiments of the present invention. The processor 20 executes various functional applications and data processing of the fixed time terminal sliding mode robust fault-tolerant control apparatus of the liquid-filled spacecraft by running software programs, instructions and modules stored in the memory 21, that is, the method described above is implemented.
The memory 21 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the data storage area can store data and the like created according to the use of the sliding mode robust fault-tolerant control device of the fixed time terminal of the liquid-filled spacecraft. Further, the memory 21 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 21 may further include a memory remotely located with respect to the processor 20, which may be connected to the fixed-time terminal sliding mode robust fault tolerant control apparatus of a liquid-filled spacecraft via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 22 may be used to receive input numeric or character information and generate key signal inputs related to user settings and functional control of the fixed time terminal sliding mode robust fault tolerant control device of a liquid filled spacecraft. The output device 23 may include a display device such as a display screen.
EXAMPLE III
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a fixed-time terminal sliding mode robust fault-tolerant control method for a liquid-filled spacecraft, which may be specifically, but not limited to, the content disclosed in the above method embodiments.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, Ruby, Go, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.

Claims (10)

1. A fixed time terminal sliding mode robust fault-tolerant control method of a liquid-filled spacecraft is characterized by comprising the following steps:
constructing a coupling dynamic model of the liquid-filled spacecraft based on a viscous spherical pendulum model of liquid shaking;
and designing a robust adaptive fault-tolerant control strategy for the coupling dynamics model based on a fixed time control strategy and an adaptive control algorithm.
2. The method of claim 1, wherein the coupled dynamics model comprises a system dynamics equation for a liquid-filled spacecraft, an actuator failure model for a liquid-filled spacecraft, and an attitude dynamics equation for a liquid-filled spacecraft.
3. The method of claim 2, wherein constructing the system dynamics equations for the liquid-filled spacecraft comprises:
determining a Lagrangian function L of the liquid-filled spacecraft;
according to the Lagrange function L of the liquid-filled spacecraft, the Lagrange formula under the quasi-coordinate and the rangeDetermining the system dynamics equation of the liquid-filled spacecraft by the Lagrange formula under the sense coordinate
Figure FDA0002759860830000011
Wherein L is T-VpT is the kinetic energy of the liquid-filled spacecraft, VpGravitational potential energy generated for the liquid-filled spacecraft pendulum motion; the Lagrangian formula under quasi-coordinates is
Figure FDA0002759860830000012
u is a desired control torque acting on the liquid-filled spacecraft, d (t) is an external disturbance torque acting on the liquid-filled spacecraft; the Lagrange formula under the generalized coordinate is
Figure FDA0002759860830000013
Is the viscous moment of the pendulum about its suspension point, c1、c2Respectively representing viscosity coefficients of the liquid fuel, wherein eta is a generalized coordinate vector for describing liquid sloshing;
Figure FDA0002759860830000014
mpthe mass of the ball pendulum is shown, and g is the inertia acceleration of the liquid-filled spacecraft.
4. The method of claim 2, wherein the actuator fault model of the liquid-filled spacecraft
Figure FDA0002759860830000021
Wherein u is the actual control moment vector acting on the liquid-filled spacecraft, ucControlling a torque vector for the command; d (t) ═ diag { e1,e2,e3Describing the efficiency loss of the actuator, its diagonal element satisfies 0 ≦ ei1, i ≦ 1,2,3, case ei0 means that the ith actuator is completely out of order and cannot provide the control torque acting on the spacecraft; case 0 < ei< 1 indicates the ith executionThe mechanism partially fails, but can still provide control torque; case ei1 indicates that the ith actuating mechanism works normally;
Figure FDA0002759860830000022
indicating an additional deviation fault.
5. The method of claim 3, wherein the attitude dynamics equations of the liquid-filled spacecraft
Figure FDA0002759860830000023
Where ψ is a variable, sat (u)c) Represents the nonlinear saturation characteristic of the actuator, and the form of the nonlinear saturation characteristic can be written as sat (u)c)＝Θ(uc)·uc，Θ(uc)＝diag{Θ(uc1),Θ(uc2),Θ(uc3)}，Θ(uc) Is an indicator of the saturation of the control vector,
Figure FDA0002759860830000024
Δ J is a parameter uncertainty matrix.
6. The method of claim 1, wherein designing a robust adaptive fault tolerant control strategy for the coupled dynamics model comprises:
and designing a fixed time sliding mode surface and a fixed time controller for the coupling dynamic model.
7. The method of claim 1, further comprising, after designing a robust adaptive fault tolerant control strategy for the coupled dynamics model:
and verifying the effectiveness and robustness of the robust self-adaptive fault-tolerant control strategy.
8. The method of claim 7, wherein verifying the validity and robustness of the robust adaptive fault-tolerant control strategy comprises:
and simulating the robust adaptive fault-tolerant control strategy by adopting a numerical method to obtain a simulation result.
9. A fixed time terminal sliding mode robust fault-tolerant control device of a liquid-filled spacecraft is characterized by comprising: a processor for implementing a fixed-time terminal sliding-mode robust fault-tolerant control method of a liquid-filled spacecraft as claimed in any of claims 1-8 when executing a computer program.
10. A computer-readable storage medium, storing a computer program, wherein the computer program, when executed by a processor, implements a fixed-time terminal sliding-mode robust fault-tolerant control method for liquid-filled spacecraft as claimed in any of claims 1-8.
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CN114229039A (en) * 2021-12-14 2022-03-25 内蒙古工业大学 Self-adaptive non-angular-velocity compound control method for liquid-filled flexible spacecraft
CN116819976A (en) * 2023-08-31 2023-09-29 中国人民解放军空军工程大学 Predetermined time fault-tolerant control design method for control input constrained dynamics system

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Title
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114229039A (en) * 2021-12-14 2022-03-25 内蒙古工业大学 Self-adaptive non-angular-velocity compound control method for liquid-filled flexible spacecraft
CN114229039B (en) * 2021-12-14 2023-09-15 内蒙古工业大学 Self-adaptive non-angular velocity composite control method for liquid-filled flexible spacecraft
CN116819976A (en) * 2023-08-31 2023-09-29 中国人民解放军空军工程大学 Predetermined time fault-tolerant control design method for control input constrained dynamics system
CN116819976B (en) * 2023-08-31 2023-11-10 中国人民解放军空军工程大学 Predetermined time fault-tolerant control design method for control input constrained dynamics system

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