CN114942592B - Double-end event triggering self-adaptive anti-interference control method for flexible spacecraft - Google Patents

Double-end event triggering self-adaptive anti-interference control method for flexible spacecraft Download PDF

Info

Publication number
CN114942592B
CN114942592B CN202210616762.9A CN202210616762A CN114942592B CN 114942592 B CN114942592 B CN 114942592B CN 202210616762 A CN202210616762 A CN 202210616762A CN 114942592 B CN114942592 B CN 114942592B
Authority
CN
China
Prior art keywords
interference
flexible
fuzzy
spacecraft
adaptive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202210616762.9A
Other languages
Chinese (zh)
Other versions
CN114942592A (en
Inventor
孙海滨
王亚文
侯林林
杨东
齐文海
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qufu Normal University
Original Assignee
Qufu Normal University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qufu Normal University filed Critical Qufu Normal University
Priority to CN202210616762.9A priority Critical patent/CN114942592B/en
Publication of CN114942592A publication Critical patent/CN114942592A/en
Application granted granted Critical
Publication of CN114942592B publication Critical patent/CN114942592B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A double-end event triggering self-adaptive anti-interference control method of a flexible spacecraft system based on a T-S fuzzy model. Firstly, describing a flexible spacecraft system by adopting a T-S fuzzy model, secondly, designing an event triggering mechanism from a sensor to a controller channel (SC), constructing a vibration observer to estimate a flexible mode, designing an adaptive law to estimate an upper bound of unknown interference, designing an adaptive anti-interference controller based on an estimated value of the mode and the upper bound of interference, and designing the event triggering mechanism from the controller to an actuator Channel (CA) to ensure that a spacecraft system signal meets consistent final constraint. The method can effectively reduce the influence of flexible vibration and external interference on the flexible spacecraft, realize vibration suppression and stable posture, improve the anti-interference capability of the spacecraft, save communication resources and is suitable for posture control of the flexible spacecraft.

Description

Double-end event triggering self-adaptive anti-interference control method for flexible spacecraft
Technical Field
The invention relates to the technical field of attitude control of flexible spacecraft, in particular to a double-end event triggering self-adaptive anti-interference control method of a flexible spacecraft based on a T-S fuzzy model.
Background
For nearly half a century, flexible spacecraft have exerted tremendous advantages in deep space exploration tasks. Therefore, the problem of stable attitude of the spacecraft system has important practical significance, and considerable attention is paid. Compared with a rigid spacecraft, the flexible spacecraft has certain advantages in the aspect of realizing rapid attitude maneuver, and has longer service life. However, the flexible portion may cause elastic vibration to the spacecraft during firing. This may undermine the stability and control performance of the spacecraft system. Furthermore, spacecraft systems have some remarkable characteristics of high nonlinearity and strong coupling. These characteristics are a difficult problem in the design of the attitude controller. Thus, attitude control of flexible spacecraft systems is clearly a challenging task.
The inventor of the present application has disclosed an event-triggered anti-interference control method based on interference compensation in the patent CN202111317907.7 of the previous application, however, an event trigger mechanism is designed only at the actuator end. In the subsequent research, the inventor considers an adaptive double-end event trigger control method, which is characterized in that: 1) Meanwhile, an event triggering mechanism of an actuator end and a sensor end is considered, so that communication resources are saved; 2) The upper bound of the self-adaptive law estimation external interference is designed, and the complexity of the algorithm is reduced.
Disclosure of Invention
The technical solution of the invention is as follows: aiming at a nonlinear flexible spacecraft system subjected to interference, a double-end event triggering self-adaptive anti-interference control method of a flexible spacecraft based on a T-S fuzzy model is provided, flexible vibration and external interference factors are reduced, and the anti-interference performance of the system is improved; meanwhile, communication resources are saved.
The technical scheme of the invention is as follows: the double-end event triggering self-adaptive anti-interference control of the flexible spacecraft is characterized by comprising the following steps of:
1) Establishing a kinematic model and a dynamic model of the flexible spacecraft with external interference, and then converting the nonlinear flexible spacecraft system into a T-S fuzzy system by using a T-S fuzzy modeling method;
2) Designing an event triggering mechanism in a sensor-to-controller (SC) channel, constructing a modal observer to estimate a flexible mode, and obtaining a mode error system;
3) The upper bound of the unknown interference is estimated by designing an adaptive law, an adaptive anti-interference controller is designed based on an estimated value, and an event trigger mechanism is designed on a controller-to-executor Channel (CA) so that spacecraft system signals meet consistent final constraint.
Firstly, establishing a kinematic model and a dynamic model of a flexible spacecraft with external interference, and then converting a nonlinear flexible spacecraft system into a T-S fuzzy system by using a T-S fuzzy modeling method;
Kinematic model:
where q 0(t)∈R,qv(t)∈R3 is a quaternion, Satisfy the following requirementsI e R 3×3 is the identity matrix, ω (t) = [ ω 1(t),ω2(t),ω3(t)]T∈R3 represents the angular velocity,
Kinetic model:
Where J e R 3×3 represents the inertia matrix, η (t) e R r represents the flexible modal vector, δ e R 3×r represents the coupling matrix, c=diag {2ζ kΩk,k＝1,2,…,r}∈Rr×r represents the damping matrix, R represents the modal number, Representing a stiffness matrix, ζ k representing a damping rate, Ω k representing a frequency, u (t) = (u 1(t),u2(t),u3(t))T∈R3 representing a control moment, d (t) = (d 1(t),d2(t),d3(t))T∈R3 representing an external disturbance,
Definition of the definitionThen, the system sum may be converted into
Wherein J 0＝J-δT delta.
Establishing a T-S fuzzy model: defining state variables
Selection of
Establishing a model of an ith rule:
Rule i if v 1 (t) is θ i1,v2 (t) is θ i2,…,v6 (t) is θ i6
Where d 1i(t)＝(-S(xωi))δTψ(t)+δT(Cψ(t)+Kη(t)-Cδω(t)),θig (g=1, 2, …, 6) represents the T-S fuzzy set, v 1(t),...,v6 (T) is the front piece variable, i=1, 2, …, λ, a i and B are the system matrices, andX ωi,xqi represents the angular velocity and the value of the four elements corresponding to the ith rule.
The T-S blur model of a flexible spacecraft system can be written as:
Wherein the method comprises the steps of For any v (t), h i (v (t)) is more than or equal to 0 and less than or equal to 1,
If the front-piece variable is defined by a system state, the T-S fuzzy flexible spacecraft system is:
Secondly, designing an event trigger mechanism in an SC channel, constructing a mode observer to estimate a flexible mode, and obtaining a mode error system;
The event triggering scheme of the SC channel is designed as follows:
Where m 1 > 0 is a constant, t r,k,tr,k+1 denotes the trigger time, x r(tr,k) denotes the state of the system at the time of triggering. Constructing a vibration observer:
Wherein the method comprises the steps of
Thirdly, an upper bound of unknown interference is estimated by a self-adaptive law, a self-adaptive anti-interference controller is designed based on an estimated value, and an event trigger mechanism is designed on a CA channel, so that a spacecraft system signal and an error system meet consistent final constraint.
Based on a Parallel Distributed Compensation (PDC) scheme, a self-adaptive fuzzy anti-interference control law is designed, and the j-th rule is given as follows:
Control rule j if v 1 (t) is θ j1,…,v6 (t) is θ j6
w(t)＝uc(t),
Where K j∈R3×6 is the gain matrix to be designed, σ > 0,Is a design parameter, j=1, 2, …, λ. If v (t) is a function of x (t), the observer-based event-triggered adaptive fuzzy control law can be expressed as:
Wherein the method comprises the steps of E m(t)＝wm(t)-um (t) is the measurement error caused by the event-triggered mechanism. t m,k,tm,k+1 represents the current and next event trigger times, w m(tm,k) represents the control signal at the trigger time, and m 2 > 0 is a design parameter.
Compared with the prior art, the invention has the advantages that:
1. The invention designs a double-end event triggering self-adaptive anti-interference control method of a flexible spacecraft based on a T-S fuzzy model, and aims at a nonlinear flexible spacecraft system with external interference, a T-S fuzzy modeling method is utilized to build a T-S fuzzy model of the system, an event triggering mechanism is designed from a sensor to a controller channel (SC), a modal observer and a self-adaptive law estimation flexible mode and an unknown interference upper bound are respectively designed, and a control strategy with the event triggering mechanism is designed from the controller to an executor Channel (CA) based on an estimated value;
2. The double-end event triggering self-adaptive anti-interference control method for the flexible spacecraft based on the T-S fuzzy model can effectively reduce the influence of flexible vibration and external interference, realize stable posture of the flexible spacecraft, improve the anti-interference performance of the system and save communication resources.
Drawings
FIG. 1 is a flow chart of a design of a double-end event triggered adaptive anti-interference control method for a flexible spacecraft based on a T-S fuzzy model.
Detailed Description
As shown in fig. 1, the specific implementation steps of the present invention are as follows:
1) Establishing a kinematic model and a dynamic model of a flexible spacecraft system containing external interference, and converting the nonlinear flexible spacecraft system into a T-S fuzzy system model kinematic model by using a T-S fuzzy modeling method:
where q 0(t)∈R,qv(t)∈R3 is a quaternion, Satisfy the following requirementsI e R 3×3 is the identity matrix, ω (t) = [ ω 1(t),ω2(t),ω3(t)]T∈R3 represents the angular velocity,
Kinetic model:
Is an inertial matrix of the mass of the material, Is a coupling matrix. The frequency Ω 1＝0.7681rad/s,Ω2＝0.7681rad/s,Ω3 = 0.7681rad/s is chosen, the corresponding damping rate is ζ 1＝0.0056,ξ2＝0.0086,ξ3 =0.0013.
Ω (0) = [ 0.1-0.3.0.2 ] T(rad/s),q0(0)＝0.755,qv(0)＝[0.3 0.5 -0.3]T is the initial value of the state variable. η (0) = [ -0.001 0.002 0.001] T,ψ(0)＝[0 0 0]T is the initial value of the flexible modality.
Seven operating points are selected: the following T-S fuzzy rule is established:
rule 1 if { x 1 (t) is θ 11},{x2 (t) is θ 12},…,{x6 (t) is θ 16 }, then
Rule 2 if { x 1 (t) is θ 21},{x2 (t) is θ 22},…,{x6 (t) is θ 26 }, then
Rule 7 if { x 1 (t) is θ 71},{x2 (t) is θ 72},…,{x6 (t) is θ 76 }, then
Wherein the method comprises the steps ofJ0＝J-δTδ，
d(t)＝[0.3sin(t)；0.5cos(t)；0.36sin(t)]
2) Designing an event trigger mechanism on an SC channel, constructing a mode observer to estimate a flexible mode, and obtaining a mode error system;
the transmission scheme of the sensor end ETM is designed as follows:
Where m 1＝0.001,tr,k,tr,k+1 represents the trigger time, x r(tr,k) represents the state of the system at the time of triggering.
Constructing a vibration observer:
Wherein the method comprises the steps of
3) The upper bound of unknown interference is estimated by designing an adaptive law, an adaptive anti-interference controller is designed based on an estimated value, and an event trigger mechanism is designed on a CA channel, so that the spacecraft system signal and an error system meet consistent final constraint.
Based on a Parallel Distributed Compensation (PDC) scheme, an adaptive fuzzy anti-interference control law is designed, and the j-th rule is given as follows:
Control rule j if v 1 (t) is θ j1,…,v6 (t) is θ j6
w(t)＝uc(t),
Where K j∈R3×6 is the gain matrix to be designed, σ > 0,Is a design parameter, j=1, 2, …, λ. If v (t) is a function of x (t), the observer-based event-triggered adaptive fuzzy control law can be expressed as:
Wherein the method comprises the steps of
E m(t)＝wm(t)-um (t) is the measurement error caused by the event-triggered mechanism. t m,k,tm,k+1 represents the current and next event trigger times, w m(tm,k) represents the control signal at the trigger times, σ=0.2, k=0.4, m 2 =0.5,
The invention adopts a self-adaptive double-end event trigger control method, considers event trigger mechanisms of an actuator end and a sensor end, saves communication resources, designs an upper bound of self-adaptive law estimation external interference, and reduces algorithm complexity.

Claims (1)

1. The double-end event triggering self-adaptive anti-interference control method for the flexible spacecraft is characterized by comprising the following steps of:
1) Establishing a kinematic model and a dynamic model of the flexible spacecraft with external interference, and then converting the nonlinear flexible spacecraft system into a T-S fuzzy system by using a T-S fuzzy modeling method;
2) Designing an event triggering mechanism in a sensor-to-controller (SC) channel, constructing a modal observer to estimate a flexible mode, and obtaining a mode error system;
3) Designing an upper bound of the unknown interference of the adaptive law estimation, designing an adaptive anti-interference controller based on an estimated value, and designing an event triggering mechanism in a Channel (CA) from the controller to an executor so that spacecraft system signals meet consistent final constraint;
The kinematic model in the step 1 is as follows:
where q 0(t)∈R,qv(t)∈R3 is a quaternion, Satisfy the following requirementsI e R 3×3 is the identity matrix, ω (t) = [ ω 1(t),ω2(t),ω3(t)]T∈R3 represents the angular velocity,
The kinetic model described in step 1:
Where J e R 3×3 represents the inertia matrix, η (t) e R r represents the flexible modal vector, δ e R 3×r represents the coupling matrix, c=diag {2ζ kΩk,k＝1,2,…,r}∈Rr×r represents the damping matrix, R represents the modal number, Representing a stiffness matrix, ζ k representing a damping rate, Ω k representing a frequency, u (t) = (u 1(t),u2(t),u3(t))T∈R3 representing a control moment, d (t) = (d 1(t),d2(t),d3(t))T∈R3 representing an external disturbance,
Definition of the definitionThen the kinetic model can be converted into
Wherein J 0＝J-δT delta;
in the step 1, the T-S fuzzy model is established specifically as follows:
defining state variables
xω(t)＝[x1(t),x2(t),x3(t)]T,xq(t)＝[x4(t),x5(t),x6(t)]T, Selection of
Establishing a model of an ith rule:
Rule i if v 1 (t) is θ i1,v2 (t) is θ i2,…,v6 (t) is θ i6
Where d 1i(t)＝(-S(xωi))δTψ(t)+δT(Cψ(t)+Kη(t)-Cδω(t)),θig (g=1, 2, …, 6) represents the T-S fuzzy set, v 1(t),...,v6 (T) is the front piece variable, i=1, 2, …, λ, a i and B are the system matrices, and
Indicating the angular velocity and the value of the four elements corresponding to the ith rule,
The T-S blur model of a flexible spacecraft system can be written as:
Wherein the method comprises the steps of For any v (t), h i (v (t)) is more than or equal to 0 and less than or equal to 1,
If the front-piece variable is defined by a system state, the T-S fuzzy flexible spacecraft system is:
The event triggering scheme of the sensor-to-controller channel (SC) in step 2 is designed as:
Where m 1 > 0 is a constant, t r,k,tr,k+1 denotes the trigger time, x r(tr,k) denotes the state of the system at the time of triggering,
Constructing a vibration observer:
Wherein the method comprises the steps of
In the step 3, based on a parallel distributed compensation scheme, a self-adaptive fuzzy anti-interference control law is designed, and the j-th rule is given as follows:
Control rule j if v 1 (t) is θ j1,…,v6 (t) is θ j6
w(t)＝uc(t),
Where K j∈R3×6 is the gain matrix to be designed, σ > 0,Is a design parameter, j=1, 2, …, λ, if v (t) is a function of x (t), the observer-based event-triggered adaptive fuzzy control law can be expressed as:
w(t)＝uc(t),
Wherein the method comprises the steps of
E m(t)＝wm(t)-um (t) is the measurement error caused by the event trigger mechanism, t m,k,tm,k+1 represents the current and next event trigger times, w m(tm,k) represents the control signal at the trigger time, and m 2 > 0 is a design parameter.
CN202210616762.9A 2022-06-01 2022-06-01 Double-end event triggering self-adaptive anti-interference control method for flexible spacecraft Active CN114942592B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210616762.9A CN114942592B (en) 2022-06-01 2022-06-01 Double-end event triggering self-adaptive anti-interference control method for flexible spacecraft

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210616762.9A CN114942592B (en) 2022-06-01 2022-06-01 Double-end event triggering self-adaptive anti-interference control method for flexible spacecraft

Publications (2)

Publication Number Publication Date
CN114942592A CN114942592A (en) 2022-08-26
CN114942592B true CN114942592B (en) 2024-07-02

Family

ID=82908350

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210616762.9A Active CN114942592B (en) 2022-06-01 2022-06-01 Double-end event triggering self-adaptive anti-interference control method for flexible spacecraft

Country Status (1)

Country Link
CN (1) CN114942592B (en)

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5504175B2 (en) * 2008-01-31 2014-05-28 フィッシャー−ローズマウント システムズ，インコーポレイテッド Robust adaptive model predictive controller with tuning to compensate for model mismatch
CN106406086B (en) * 2016-05-26 2019-05-07 北京航空航天大学 A kind of flexible spacecraft interference compensation method based on sliding formwork interference observer
CN107918284A (en) * 2018-01-10 2018-04-17 重庆大学 Fuzzy control method of the Non-linear Inverted Pendulum System based on event trigger policy
CN108445748B (en) * 2018-02-02 2020-07-03 北京航空航天大学 Adaptive spacecraft attitude tracking control method based on event trigger mechanism
JP7089336B2 (en) * 2018-07-27 2022-06-22 アズビル株式会社 Control device
CN109739084B (en) * 2018-12-11 2022-08-23 曲阜师范大学 System sliding mode anti-interference model obtaining method, system, controller and control method
CN111284732B (en) * 2020-03-13 2021-08-03 北京航空航天大学 Spacecraft anti-interference attitude cooperative control method based on event trigger communication
CN112882391B (en) * 2021-01-26 2022-05-27 四川大学 Double-end event triggered nonlinear control method
CN113608540B (en) * 2021-06-29 2022-07-05 北京理工大学 Proportional integral type event-triggered spacecraft attitude control method
CN114074767B (en) * 2021-11-09 2023-08-15 曲阜师范大学 Flexible spacecraft attitude control method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Event-triggered anti-disturbance attitude and vibration control for T-S fuzzy flexible spacecraft model with multiple disturbances;YawenWang等;《Aerospace Science and Technology》;20211231;1-16 *

Also Published As

Publication number Publication date
CN114942592A (en) 2022-08-26

Similar Documents

Publication Publication Date Title
CN108445748B (en) Adaptive spacecraft attitude tracking control method based on event trigger mechanism
CN106774273B (en) For the algorithm based on sliding mode prediction fault tolerant control method of time_varying delay control system actuator failures
CN110065070B (en) Robot self-adaptive impedance control system based on dynamic model
CN108388114B (en) Flexible mechanical arm composite control method based on output redefinition
CN113534666B (en) Trajectory tracking control method of single-joint mechanical arm system under multi-target constraint
CN107703742B (en) Flexible spacecraft sensor fault adjusting method
CN113589689B (en) Sliding mode controller design method based on multi-parameter self-adaptive neural network
CN110687796B (en) Neural network-based adaptive finite time command filtering backstepping control method
CN108170151B (en) Self-adaptive motion control device and method for underwater robot
Zhang et al. A novel event-triggered robust neural formation control for USVs with the optimized leader–follower structure
CN114074767B (en) Flexible spacecraft attitude control method
Lakhekar et al. Adaptive fuzzy exponential terminal sliding mode controller design for nonlinear trajectory tracking control of autonomous underwater vehicle
CN113954077B (en) Underwater swimming mechanical arm trajectory tracking control method and device with energy optimization function
CN113625781B (en) Event-based Euler-Lagrange system tracking control method
CN111948943A (en) Combined sliding mode motion control method of flexible mechanical arm
CN114942592B (en) Double-end event triggering self-adaptive anti-interference control method for flexible spacecraft
CN113110540B (en) Elastomer aircraft global finite time control method based on time scale decomposition
CN117284501A (en) Input-limited flexible spacecraft full-drive attitude saturation control method
CN110647161B (en) Under-actuated UUV horizontal plane trajectory tracking control method based on state prediction compensation
CN115402538B (en) Flexible spacecraft attitude maneuver control method based on interference observer
CN109799704B (en) Flexible spacecraft attitude and structure vibration coupling control method
JPH11184522A (en) Device and method for controlling state of moving object
CN113848958B (en) Limited time fault-tolerant track tracking control method for full-drive anti-unwinding underwater robot based on quaternion
CN113835340B (en) Model-free control method of underwater robot considering input quantization and nonlinear dead zone
CN111558938B (en) Observer-based control method for transient and steady performance of mechanical arm system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant