CN112765851A - Consistency distributed vibration control method for solar sailboard of spacecraft - Google Patents
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Abstract
The invention provides a consistency distributed vibration control method for a solar sailboard of a spacecraft. The method comprises the following steps: the method comprises the steps of dividing an internally consolidated solar sailboard into a plurality of intelligent components capable of being independently controlled according to the characteristics of structure assembly, constructing a finite element model of a single intelligent component and an overall structure finite element model facing distributed control after assembly on the basis of a mass matrix, a damping matrix and a rigidity matrix of each intelligent component, and designing a distributed controller by combining a graph theory and a consistency theory, wherein the designed overall controller is in a matrix form of each distributed controller containing a feedback stabilizing item and a consistency synergistic item. The distributed control method containing the consistency synergistic item designed by the invention can effectively inhibit the vibration of the satellite solar sailboard, improve the dynamic performance of the system, enable the convergence rate to be faster, simultaneously have strong robust fault-tolerant capability, still realize vibration control by means of the consistency synergistic item under the condition that the control system is partially failed, and ensure the closed loop stability of the system.
Description
Technical Field
The invention relates to the technical field of dynamics and structure control of aerospace, in particular to a consistency distributed vibration control method for a solar sailboard of a spacecraft.
Background
At present, the vibration control of the solar sailboard of the spacecraft mainly comprises two types of centralized control and distributed control. For centralized control, no matter a classical control algorithm or a modern control theory is adopted, the information of the vibration control of the whole structure is stored in a central controller together for processing and calculation; although good control results can be obtained, the robustness of the system to controller failures is poor. Furthermore, the efficiency of the controller in solving the calculations decreases as the number of degrees of freedom increases. With the appearance of large space structures such as space solar power generation satellites, the structural size of a solar panel can reach hundreds of meters, and a large number of sensors and execution mechanisms are needed to complete a control task, so that a system is large and complex. In order to improve the solving efficiency of the centralized controller, modal truncation is often adopted to reduce the system dimension, but the problem of observation overflow and the like also exists. For distributed control, the controllers are designed only by using local information of the windsurfing board structure, information transmission and exchange among the subsystems lack corresponding criteria, and the influence of interaction among the subsystems on the overall performance of the system is processed by adjusting control gains of the controllers. This is a passive adaptation method for the interaction between the subsystems of the solar panels in a physically fixed connection, and it is difficult to achieve optimal control of the overall system. When a certain or part of controllers of the two control strategies fail, the fault tolerance of the whole spacecraft solar panel control system cannot be guaranteed.
Disclosure of Invention
In light of the above-mentioned technical problems, a method for controlling the consistent distributed vibration of a solar array of a spacecraft is provided. The technical means adopted by the invention are as follows:
a method for controlling the consistency distributed vibration of a spacecraft solar array comprises the following steps:
and 3, dividing the controllers of the intelligent assemblies into three types, namely a controller only at the right end of which contains consistent cooperative information, a controller only at the left end and the right end of which both contain consistent cooperative information and a controller only at the left end of which contains consistent cooperative information, designing the distributed controllers by combining graph theory and consistency theory, wherein the designed integrated controller is in a matrix form of each distributed controller containing a feedback stabilizing item and a consistent cooperative item.
Further, in step 2, the finite element model of each intelligent component is specifically:
wherein XIC_iA node displacement vector of the ith intelligent component; mIC_i、CIC_i、KIC_iRespectively representing a mass matrix, a damping matrix and a rigidity matrix of the ith intelligent assembly, wherein the structural damping adopts a Rayleigh damping hypothesis; b isU_iIs a position matrix, U, of the ith intelligent component controllerIC_iFor control input, BW_iLoad the position matrix for the disturbance of the ith intelligent component, WIC_iIs a disturbance input;
the finite element model of the overall structure obtained by assembly is as follows:
m, C, K, wherein the mass matrix, the damping matrix and the stiffness matrix of the overall structure are respectively represented; xIC_all＝[XIC_1,XIC_2,…,XIC_n]TNode displacement as a unitary structure, BU＝[BU_1,BU_2,…,BU_n]TPosition matrix, U, for controllers of integral constructionIC_all＝[UIC_1,UIC_2,…,UIC_n]TControl input as a unitary structure, BW＝[BW_1,BW_2,…,BW_n]TAs a position matrix of disturbance of the overall structure, WIC_all＝[WIC_1,WIC_2,…,WIC_n]TIs the disturbance input of the whole structure.
Further, in step 3, the distributed cooperative controller is specifically:
wherein KIC_(1,2)And KIC_(n,n-1)Respectively represent the gains in the 1 st and 3 rd intelligent component controllers, let KIC_(i,i-1)＝KIC_(i,i+1)And (i-2, …, n-1) denotes the gain in the type 2 smart component controller, UIC_1And UIC_nIntelligent component controllers, U, representing the left and right ends of the sailboard, respectivelyIC_iController representing intelligent components in the middle of a windsurfing board, YIC_iAnd
measurement information representing a state of the smart component;
the controller of the whole structure is written as follows:
wherein Y isIC_all、
Position information and velocity information, C, respectively, representing measurements of the whole structureYIC_allA measurement matrix representing the overall structure;
order to
The gain coefficient matrix of the consistency synergy term is specifically:
the invention provides a consistency distributed vibration control method for a solar sailboard of a spacecraft. The three intelligent assembly controller forms provided by the method can effectively represent information transmission and interaction among the intelligent assemblies; the proposed adjacency relation matrix can be used for describing the topological relation among the intelligent assemblies of the windsurfing boards, and meanwhile, the control system has good expansion capability; the provided controller comprises a feedback stabilization item and a consistency synergistic item, the consistency synergistic item designed by the method can effectively inhibit the vibration of the solar sailboard, improve the dynamic performance of the system, enable the convergence rate to be higher, simultaneously have strong robust fault-tolerant capability and still play a good role in inhibiting the vibration under the condition that the control system is partially failed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a simplified model of the overall structure of the object of the present invention.
FIG. 2 illustrates changes in the distributed system architecture and updates to the controller adjacency matrix.
Fig. 3 is a schematic diagram of three intelligent component controllers.
FIG. 4 is a diagram illustrating an overall structure and coordinate system of a target according to an embodiment of the present invention.
Fig. 5 is a graph comparing vibration curves of position 4 in the smart component module, in which (a) is a displacement curve of position 4 when the controller normally operates, and (b) is a speed curve of position 4 when the controller normally operates.
FIG. 6 is a comparison of control inputs at locations 3 and 4 in the intelligent component module, where (a) is the control input for locations 3 and 4 when the distributed controller is operating normally, and (b) is the control input for locations 3 and 4 when the distributed controller is operating normally.
Fig. 7 is a graph comparing the vibration curves of the fourth intelligent component controller at the position 4 when the feedback stabilization item fails, wherein (a) is the displacement curve of the fourth intelligent component controller at the position 4 when the feedback stabilization item fails, and (b) is the velocity curve of the fourth intelligent component controller at the position 4 when the feedback stabilization item fails.
Fig. 8 is a comparison graph of the vibration curves of the position 4 when the feedback stabilizing items of the intelligent component controllers fail under the undamped condition, wherein (a) is the vibration curve of the position 4 when the feedback stabilizing items of the fourth intelligent component controller fail under the undamped condition, and (b) is the vibration curve of the position 4 when the feedback stabilizing items of the intelligent component controllers all fail under the undamped condition.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
The distributed control idea is to divide the whole system into a plurality of subsystems for independent control, and realize the cooperative control of the whole system through the information interaction among the independent controllers. The method for controlling the consistency distributed vibration of the solar sailboard of the spacecraft utilizes the information exchange among the intelligent components and the target protocol rule to enable the system state to reach the same target as soon as possible and improve the dynamic performance of the system. The influence caused by the faults or disturbance of other intelligent component controllers can be timely compensated through the protocol and the rule among the intelligent components in the consistency item, the cooperative control of multiple intelligent components is realized, meanwhile, the expansion of the controllers can be carried out in combination with the actual situation, the problems of information interaction among the intelligent component controllers and consistency fault tolerance are well solved, and therefore the overall structure is fast and stable.
The method mainly comprises the following steps in the design process:
wherein XIC_iA node displacement vector of the ith intelligent component; mIC_i、CIC_i、KIC_iRespectively representing a mass matrix, a damping matrix and a rigidity matrix of the ith intelligent assembly, wherein the structural damping adopts a Rayleigh damping hypothesis; b isU_iIs a position matrix of the ith controller, UIC_iFor control input, BW_iPosition matrix loaded for disturbance, WIC_iIs a disturbance input;
the finite element model of the overall structure obtained by assembly is as follows:
m, C, K respectively representing a mass array, a damping array and a stiffness array of the overall structure; xIC_all＝[XIC_1,XIC_2,…,XIC_n]TNode displacement as a unitary structure, BU＝[BU_1,BU_2,…,BU_n]TPosition matrix, U, for controllers of integral constructionIC_all＝[UIC_1,UIC_2,…,UIC_n]TControl input as a unitary structure, BW＝[BW_1,BW_2,…,BW_n]TPosition matrix perturbed for integral structure，WIC_all＝[WIC_1,WIC_2,…,WIC_n]TIs the disturbance input of the whole structure.
And 3, as shown in fig. 3, taking the spacecraft solar sailboard as a research object, and then describing that the topological graph of the connection relation of the intelligent assemblies is a linear type connected graph. Therefore, the controllers of the intelligent components should be classified into three types: (1) a controller with only the right end containing consistent cooperative information, (2) a controller with both the left and right ends containing consistent cooperative information, and (3) a controller with only the left end containing consistent cooperative information.
Considering that in practical engineering application, measurement information is adopted for controller design, the following distributed cooperative controllers are proposed:
wherein KIC_(1,2)And KIC_(n,n-1)Respectively represent the gains in the 1 st and 3 rd intelligent component controllers, let KIC_(i,i-1)＝KIC_(i,i+1)And (i-2, …, n-1) denotes the gain in the type 2 smart component controller, UIC_1And UIC_nIntelligent component controllers, U, representing the left and right ends of the sailboard, respectivelyIC_iController representing intelligent components in the middle of a windsurfing board, YIC_iAnd
measurement information representing the state of the smart component. The controller of the overall structure can be written as follows:
wherein Y isIC_all、
Position information and velocity information, C, respectively, representing measurements of the whole structureYIC_allA measurement matrix representing the overall structure. Order to
The gain coefficient matrix of the consistency synergy term is specifically:
example 1
The method is applied to the vibration control process of the solar sailboard of the spacecraft, and the sailboard is supposed to be composed of modular unit structures, and rigid locking is considered after the sailboard is unfolded by neglecting connecting parts between the modular unit structures. The target structure dimensions were 8.4m long, 0.63m wide, 0.01m thick, and the structure damping ratio was set to 0.01. The inherently consolidated solar panel is divided into a plurality of independently controllable modules of intelligent components based on a limited number of sensors and actuators, each intelligent component containing an actuator, the actuators being arranged to provide force only in the z-axis direction. And a sensor and an actuator are arranged in a same-position mode, and the measurement information is displacement and speed change information of a corresponding position. And (4) setting a sailboard material as an aluminum plate with one end fixedly constrained by simulation, and simultaneously giving a coordinate system for establishing a model. The overall structure of the windsurfing board as well as the coordinate system is shown in fig. 4 (the connections between the numbers in the figure represent different windsurfing board controller internal topology information).
The method comprises the steps of establishing a dynamic model of each intelligent assembly, obtaining a dynamic model of an overall structure facing distributed control through assembly, designing a vibration control system based on the dynamic model of the intelligent assembly, and updating the control system according to three different types of connection modes. Carrying out numerical simulation on the distributed vibration controller based on the consistency theory, which is proposed by the method, as shown in FIGS. 5(a) and (b); 6(a), (b); 7(a), (b); 8(a) and (b). The simulation result of the position 4 shows that under the condition of approximate control force, the control system has better dynamic performance and faster system convergence due to the action of the consistency item, the method can still realize better control effect when the feedback stabilizing item in part of controllers fails, and the robustness and the fault tolerance are better. On the basis, the undamped controller is designed, and simulation results show that when the feedback stabilizing items of the controller (part or all) fail, the control method based on the consistency theory still can realize vibration control by depending on the influence among the consistency synergistic items, so that the stability of a closed-loop system is ensured. The method has stronger robust fault-tolerant capability under the condition of ensuring the stability of the closed-loop system.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (3)
1. A method for controlling the consistency distributed vibration of a spacecraft solar array is characterized by comprising the following steps:
step 1, dividing an internally consolidated solar array into a plurality of independently controllable intelligent assemblies according to the characteristics of structure assembly, wherein each intelligent assembly comprises one or more modular array unit structures and is configured with sensitive componentsThe solar panel passes through the intelligent assemblies and the adjacency matrix among the intelligent assembly controllers
Defining;
step 2, constructing a finite element model of a single intelligent assembly and an integral structure finite element model for distributed control after assembly based on the mass matrix, the damping matrix and the rigidity matrix of each intelligent assembly;
and 3, dividing the controllers of the intelligent assemblies into three types, namely a controller only at the right end of which contains consistent cooperative information, a controller only at the left end and the right end of which both contain consistent cooperative information and a controller only at the left end of which contains consistent cooperative information, designing the distributed controllers by combining graph theory and consistency theory, wherein the designed integrated controller is in a matrix form of each distributed controller containing a feedback stabilizing item and a consistent cooperative item.
2. The method for consistent distributed vibration control of a spacecraft solar sail panel as claimed in claim 1, wherein in step 2, the finite element model of each intelligent component is specifically:
wherein XIC_iA node displacement vector of the ith intelligent component; mIC_i、CIC_i、KIC_iRespectively representing a mass matrix, a damping matrix and a rigidity matrix of the ith intelligent assembly, wherein the structural damping adopts a Rayleigh damping hypothesis; b isU_iIs a position matrix of the ith controller, UIC_iFor control input, BW_iPosition matrix loaded for disturbance, WIC_iIs a disturbance input;
the finite element model of the overall structure obtained by assembly is as follows:
m, C, K respectively representing a mass array, a damping array and a stiffness array of the overall structure; xIC_all＝[XIC_1,XIC_2,…,XIC_n]TNode displacement as a unitary structure, BU＝[BU_1,BU_2,…,BU_n]TPosition matrix, U, for controllers of integral constructionIC_all＝[UIC_1,UIC_2,…,UIC_n]TControl input as a unitary structure, BW＝[BW_1,BW_2,…,BW_n]TAs a position matrix of disturbance of the overall structure, WIC_all＝[WIC_1,WIC_2,…,WIC_n]TIs the disturbance input of the whole structure.
3. The method for controlling the consistent distributed vibration of the spacecraft solar sailboard of claim 2, wherein in the step 3, the distributed cooperative controller is specifically:
wherein KIC_(1,2)And KIC_(n,n-1)Respectively represent the gains in the 1 st and 3 rd intelligent component controllers, let KIC_(i,i-1)＝KIC_(i,i+1)And (i-2, …, n-1) denotes the gain in the type 2 smart component controller, UIC_1And UIC_nIntelligent component controllers, U, representing the left and right ends of the sailboard, respectivelyIC_iIndicating intelligent assembly controller in the middle of sailboard, YIC_iAnd
measurement information representing a state of the smart component;
the controller of the whole structure is written as follows:
wherein Y isIC_all、
Position information and velocity information, C, respectively, representing measurements of the whole structureYIC_allA measurement matrix representing the overall structure;
order to
The gain coefficient matrix of the consistency synergy term is specifically:
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