CN116880545A - Closed loop system limit capability determining method oriented to diagnosability reconfigurability quantification - Google Patents
Closed loop system limit capability determining method oriented to diagnosability reconfigurability quantification Download PDFInfo
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- CN116880545A CN116880545A CN202310763747.1A CN202310763747A CN116880545A CN 116880545 A CN116880545 A CN 116880545A CN 202310763747 A CN202310763747 A CN 202310763747A CN 116880545 A CN116880545 A CN 116880545A
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- 230000007774 longterm Effects 0.000 claims abstract description 12
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- 238000003745 diagnosis Methods 0.000 claims description 12
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Abstract
A closed-loop system limit capacity determining method oriented to diagnosability and reconfigurability quantification belongs to the technical field of spacecraft overall. Firstly, establishing a state space model of a spacecraft control system to establish a transfer function model of a nominal system; then, carrying out left and right mutual mass decomposition on a nominal system transfer function model; secondly, constructing a spacecraft fault mode set and establishing a transfer function model of the system under different faults; then, the on-orbit change rule of the resource allocation of the spacecraft in the long-term operation process is mined, and the current system parameters are determined based on the on-orbit change rule of the resource allocation, so that a fault model is updated; the transfer function norm boundary of the largest fault that can be currently handled by the spacecraft is determined to determine the fault mode envelope that can be currently handled by the system. The invention quantifies the maximum capacity of the closed loop feedback mechanism of the system against faults and reveals the limit capacity of the closed loop system against faults.
Description
Technical Field
The invention relates to a closed-loop system limit capacity determining method for diagnosability reconfigurability quantification, and belongs to the technical field of overall design of spacecrafts.
Background
Diagnosability reconfigurability is an essential attribute for representing fault diagnosis and processing capacity of a system, and provides a brand new thought for improving autonomous diagnosis reconfigurability of a spacecraft. The diagnosability and the reconfigurability of the spacecraft are quantified, and the system can answer how large the diagnosis and the reconfiguration capability the system has, so that a designer is guided to purposefully optimize the design of the spacecraft, the diagnosis and the reconfiguration potential of the system are fundamentally improved, and the long-term on-orbit safe and stable operation of the spacecraft is ensured.
The characterization quantization factors of the diagnosability and the reconfigurability of the spacecraft comprise three aspects of an object system model, resource constraint and fault mode envelope. As in patent 1, a diagnostic quantification method (CN 107544460 a) which considers non-complete failure faults of a spacecraft control system, and patent 2, a spacecraft reconfigurability evaluation method (CN 111177951 a), the current research methods about diagnostic reconfigurability are multi-focus system models and resource constraints, the influence of fault mode envelopes on diagnostic reconfigurability is less considered, and fixed fault mode envelopes are mostly considered. However, during long-term on-orbit operation of the spacecraft, due to the influence of practical factors such as resource attenuation, performance degradation, fault propagation and the like, the fault mode envelope which can be processed by the system is changed continuously along with the time and the time, which may lead to inaccurate diagnosable reconfigurability quantification results obtained in the ground design stage, and thus the obtained diagnostic reconstruction scheme does not have satisfactory performance. Therefore, aiming at a closed loop system of a spacecraft, which consists of a plurality of subsystems and has the mutual influence of input and output of each subsystem, the maximum capacity of a closed loop feedback mechanism of the system for resisting faults, namely the limit capacity analysis of the closed loop system of the spacecraft, is required to be fully researched, so that the dynamic change of the envelope of a processable fault mode of the spacecraft in the long-term operation process is reflected, the space-time evolution rule of the diagnosability reconfigurability of the spacecraft under the whole life cycle is revealed, and the on-orbit dynamic adjustment of a diagnosis reconfiguration scheme is guided. Therefore, the closed-loop system limit capability analysis oriented to diagnosability and reconfigurability quantification has important significance in guaranteeing long-term on-orbit safe and stable operation of the spacecraft.
Disclosure of Invention
The invention aims to solve the technical problems that: the defect of the prior art is overcome, the limit capacity determining method of the closed-loop system for diagnosability reconfigurability quantification is provided, the maximum capacity of a closed-loop feedback mechanism of the system for resisting faults is quantified, and a guiding basis can be provided for improving the diagnosis reconfigurability of a spacecraft.
The invention aims at realizing the following technical scheme: a method for determining limit capability of a closed loop system for diagnosable reconfigurable quantization, comprising:
according to design parameters of the spacecraft in the development process, a state space of a spacecraft control system is established;
establishing a transfer function model of a nominal system according to a state space of a spacecraft control system;
performing left and right mutual mass decomposition on a transfer function model to a nominal system;
based on spacecraft system model, researching spacecraft actuator fault cases and constructing complete fault mode set
Establishing transfer function models of the system under different faults based on left and right mutual mass decomposition of a nominal system transfer function model;
the method comprises the steps of excavating an on-orbit change rule of resource allocation in a long-term running process of a spacecraft, and determining current system parameters based on the on-orbit change rule of the resource allocation, so as to update a transfer function model of a nominal system and a transfer function model of a system under faults;
determining a transfer function norm boundary delta of the maximum fault which can be processed currently by the spacecraft based on the updated transfer function model of the nominal system;
determining a fault mode envelope which can be processed currently by the system based on the obtained maximum fault transfer function norm boundary delta
-said establishing a state space (a, B, C, D) of a spacecraft control system:
wherein , for controlling the moment distribution matrix, i=diag [ I ] depending on the mounting angle of the actuator x I y I z ]For moment of inertia, ω, of the spacecraft o Is the angular velocity of the orbit of the spacecraft.
Transfer function model G of the nominal system 0 (s)＝C(sI+A) -1 B+D。
The left and right mutual mass decomposition of the transfer function model of the nominal system comprises the following steps:
when (when)In the time-course of which the first and second contact surfaces,
the left and right mutual mass decomposition based on the nominal system transfer function model is used for establishing transfer function models of the system under different faults:
wherein and />The system faults respectively described by the left and right mutual mass decomposition modes are when
In the time-course of which the first and second contact surfaces,
the spacecraft can currently handle the transfer function norm boundary of the maximum fault:
wherein K is a controller that can stabilize the system.
Based on the obtained transfer function norm boundary of the maximum fault, determining the current processable fault mode envelope of the system as follows:
compared with the prior art, the invention has the following beneficial effects:
(1) Aiming at a closed-loop system of a spacecraft, which consists of a plurality of subsystems and has the mutual influence of input and output of each subsystem, the method quantifies the maximum capacity of a closed-loop feedback mechanism of the system to resist faults, and reveals the limit capacity of the closed-loop system to the faults.
(2) The method considers the resource allocation change of the spacecraft in the long-term operation process, provides characterization quantification factors of the diagnosability reconfigurability based on the research on the dynamic change of the fault mode envelope, and can reveal the space-time evolution rule of the diagnosability reconfigurability of the spacecraft in the whole life cycle.
(3) The method disclosed by the invention can provide a guiding basis for on-orbit dynamic adjustment of a diagnosis reconstruction scheme by revealing the space-time evolution rule of the diagnosability reconfigurability of the spacecraft under the whole life cycle, and has important significance for improving the diagnosis reconstruction capability of the spacecraft and ensuring long-term on-orbit safe and stable operation of the spacecraft.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
(1) According to design parameters of the spacecraft in the development process, a state space (A, B, C, D) of a spacecraft control system is established:
wherein , for controlling the moment distribution matrix, i=diag [ I ] depending on the mounting angle of the actuator x I y I z ]For moment of inertia, ω, of the spacecraft o Is a spacecraft orbitAngular velocity.
(2) Establishing a transfer function model G of a nominal system according to the state space of the spacecraft control system in the step (1) 0 (s)＝C(sI+A) -1 B+D。
(3) Performing left and right mutual mass decomposition on the transfer function model of the nominal system obtained in the step (2):
when (when)In the time-course of which the first and second contact surfaces,
(4) Based on spacecraft system model, researching spacecraft actuator fault cases and constructing complete fault mode set
(5) Based on the left and right mutual mass decomposition of the transfer function model of the nominal system in the step (3), the transfer function model of the system under different faults is built wherein and />The system faults respectively described by the left and right mutual mass decomposition modes are whenIn the time-course of which the first and second contact surfaces,
(6) The on-orbit change rule of the resource allocation of the spacecraft in the long-term operation process is mined, and the current aviation system parameters are determined based on the on-orbit change rule of the resource allocation, so that the transfer function model of the nominal system and the transfer function model of the system under faults are updated.
(7) Based on the updated system nominal model obtained in the step (6), determining a transfer function norm boundary of the maximum fault which can be processed by the spacecraft at present:
where K is a controller that can stabilize the system.
(8) Based on the maximum fault boundary obtained in the step (7), determining a fault mode envelope which can be processed currently by the system as follows:
in summary, through the above embodiments, the feasibility and effectiveness of the closed-loop system limit capability determining method for diagnosability and reconfigurability quantization provided by the invention are verified.
Aiming at a closed-loop system of a spacecraft, which consists of a plurality of subsystems and has the mutual influence of input and output of each subsystem, the method quantifies the maximum capacity of a closed-loop feedback mechanism of the system to resist faults, reveals the limit capacity of the closed-loop system to the faults, can provide basis for fault-tolerant design and verification of the system, and should be protected.
The method considers the resource allocation change of the spacecraft in the long-term operation process, provides the characterization quantization element of the diagnosability reconfigurability based on the research of the dynamic change of the fault mode envelope, can reveal the space-time evolution rule of the diagnosability reconfigurability of the spacecraft under the whole life cycle, and further monitors the on-orbit health state of the spacecraft in real time from the aspect of the diagnosis reconfigurability, and is protected.
The method disclosed by the invention can provide a guiding basis for on-orbit dynamic adjustment of a diagnosis reconstruction scheme by revealing the space-time evolution rule of the diagnosability reconfigurability of the spacecraft under the whole life cycle, has important significance for improving the diagnosis reconstruction capability of the spacecraft and ensuring long-term on-orbit safe and stable operation of the spacecraft, and is protected.
Claims (7)
1. A method for determining limit capability of a closed loop system for diagnosable reconfigurable quantization, comprising:
according to design parameters of the spacecraft in the development process, a state space of a spacecraft control system is established;
establishing a transfer function model of a nominal system according to a state space of a spacecraft control system;
performing left and right mutual mass decomposition on a transfer function model to a nominal system;
based on spacecraft system model, researching spacecraft actuator fault cases and constructing complete fault mode set
Establishing transfer function models of the system under different faults based on left and right mutual mass decomposition of a nominal system transfer function model;
the method comprises the steps of excavating an on-orbit change rule of resource allocation in a long-term running process of a spacecraft, and determining current system parameters based on the on-orbit change rule of the resource allocation, so as to update a transfer function model of a nominal system and a transfer function model of a system under faults;
determining a transfer function norm boundary delta of the maximum fault which can be processed currently by the spacecraft based on the updated transfer function model of the nominal system;
determining a fault mode envelope which can be processed currently by the system based on the obtained maximum fault transfer function norm boundary delta
2. The diagnosable reconfigurable quantization oriented closed loop system limit capability determination method of claim 1, wherein the establishing of a state space (a, B, C, D) of a spacecraft control system:
C＝[I 6×6 0] T ,
wherein , for controlling the moment distribution matrix, i=diag [ I ] depending on the mounting angle of the actuator x I y I z ]For moment of inertia, ω, of the spacecraft o Is the angular velocity of the orbit of the spacecraft.
3. The diagnosable reconfigurable quantization oriented closed loop system limit capability determination method of claim 2, wherein the nominal system transfer function model G 0 (s)＝C(sI+A) -1 B+D。
4. A method of determining the limit capability of a closed loop system for diagnosable reconfigurable quantization as claimed in claim 3, wherein said performing left and right mutual mass decomposition on a transfer function model of a resulting nominal system comprises:
when (when)In the time-course of which the first and second contact surfaces,
5. the method for determining the limit capacity of a closed loop system for the quantification of the reconfigurability of the diagnosis according to claim 4, wherein the left and right mutual mass decomposition based on the nominal system transfer function model is used for establishing transfer function models of the system under different faults:
wherein and />The system faults respectively described by the left and right mutual mass decomposition modes are whenIn the time-course of which the first and second contact surfaces,
6. the diagnosable reconfigurable quantization oriented closed loop system limit capability determination method of claim 5, wherein the spacecraft is currently able to handle the transfer function norm boundary of maximum fault:
wherein K is a controller that can stabilize the system.
7. The diagnosable reconfigurable quantization oriented closed loop system limit capability determination method of claim 6, wherein determining the current processable fault mode envelope of the system based on the resulting transfer function norm boundary of the largest fault is:
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