航天器位姿运动一体化直接自适应容错控制研究

马亚杰; 姜斌; 任好

doi:10.16383/j.aas.c220501

航天器位姿运动一体化直接自适应容错控制研究

doi: 10.16383/j.aas.c220501

马亚杰^1,,
姜斌^1,,
任好^1,

1.
南京航空航天大学自动化学院南京 211106

基金项目: 国家自然科学基金 (62020106003, 62273177, U22B6001), 江苏省自然科学基金 (BK20222012, BK20211566), 高等学校学科创新引智基金 (B20007), 机械结构力学及控制国家重点实验室(南京航空航天大学)自主研究课题基金 (MCMS-I-0121G03), 航空基金 (20200007018001)资助

详细信息

作者简介:
马亚杰：南京航空航天大学自动化学院教授. 主要研究方向为自适应故障诊断与容错控制及应用. E-mail: yajiema@nuaa.edu.cn

姜斌：南京航空航天大学自动化学院教授. 主要研究方向为智能故障诊断与容错控制及应用. 本文通信作者. E-mail: binjiang@nuaa.edu.cn

任好：南京航空航天大学自动化学院博士研究生. 主要研究方向为自适应容错控制及应用. E-mail: haoren@nuaa.edu.cn

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出版历程
- 收稿日期: 2022-06-16
- 录用日期: 2022-08-15
- 网络出版日期: 2022-12-26
- 刊出日期: 2023-03-20

Adaptive Direct Fault-tolerant Control Design for Spacecraft Integrated Attitude and Orbit System

MA Ya-Jie^1
,,
JIANG Bin^1
,,
REN Hao^1
,

1.
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106

Funds: Supported by National Natural Science Foundation of China (62020106003, 62273177, U22B6001), Natural Science Foundation of Jiangsu Province (BK20222012, BK20211566), Programme of Introducing Talents of Discipline to Universities of China (B20007), State Key Laboratory of Mechanical Structural Mechanics and Control (Nanjing University of Aeronautics and Astronautics) Independent Research Project (MCMS-I-0121G03), and Aviation Fund (20200007018001)

More Information

Author Bio:
MA Ya-Jie　Professor at the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics. His research interest covers adaptive fault diagnosis and fault-tolerant control and their applications

JIANG Bin　Professor at the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics. His research interest covers intelligent fault diagnosis and fault-tolerant control and their applications. Corresponding author of this paper

REN Hao　Ph.D. candidate at the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics. Her research interest covers adaptive fault-tolerant control and its applications

摘要

摘要: 针对航天器近距离操作过程中追踪航天器位姿控制系统执行器故障问题, 提出了一种直接自适应容错控制方法, 保证了追踪航天器在发生执行器故障下的自身稳定性和对目标航天器位姿状态的渐近跟踪性能. 基于对偶四元数的航天器位姿一体化控制系统模型, 首先, 假设故障已知, 设计标称控制信号; 然后, 设计自适应更新律对标称控制信号中的未知参数进行估计, 构成自适应控制信号; 最后, 利用多Lyapunov函数对多故障模式下的系统性能进行分析. 仿真结果表明了所提方法的有效性.
- 执行器故障 /
- 直接自适应控制 /
- 对偶四元数 /
- 多执行器故障 /
- 近距离操作
Abstract: This paper proposes an adaptive direct fault-tolerant control method for the tracking spacecraft with actuator faults during proximity operations, to ensure the stability and the asymptotic tracking performance of the target spacecraft. Based on dual quaternion theory constructing the integrated spacecraft attitude and orbit control system, a nominal control signal is designed assuming that the faults are known; adaptive update laws are designed to estimate the unknown parameters in the nominal control signal to form the adaptive control law; and multiple Lyapunov functions are used to analyse the performance of the system with multiple actuator faults. Simulation results demonstrate the effectiveness of the proposed method.
- Actuator fault /
- adaptive direct control /
- dual quaternion /
- multiple actuator faults /
- proximity operation

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图 1 航天器近距离操作坐标系示意图

Fig. 1 Coordinate system of spacecraft proximity operations

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图 2 运动学状态误差$ {\boldsymbol{e}}_1$

Fig. 2 Kinematic state error $ {\boldsymbol{e}}_1$

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图 3 动力学状态误差$ {\boldsymbol{e}}_2$

Fig. 3 Dynamic state error $ {\boldsymbol{e}}_2$

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图 4 对偶控制力矩$ {\hat{\boldsymbol{u}}}$与对偶控制信号$ {\hat{\boldsymbol{v}}}$

Fig. 4 Dual control torque $ {\hat{\boldsymbol{u}}}$ and dual control signal $ {\hat{\boldsymbol{v}}}$

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