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DOI:
飞控与探测:2019,(4):46-54
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基于误差空间的航天器姿态反步容错控制
(1.上海航天控制技术研究所 上海市空间智能控制技术重点实验室;2.上海卫星工程研究所)
Spacecraft Attitude Back-Stepping Fault-Tolerant Control Method based on Error Space Topology
(1.Shanghai Aerospace Control Technology Institute Shanghai Key Laboratory of Aerospace Intelligent Control Technology;2.Shanghai Institute of Satellite Engineering)
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中文摘要: 提出了一种基于误差空间的航天器姿态反步容错控制方法,以反作用飞轮作为航天器的执行器,在考虑反作用飞轮存在安装偏差及故障的情况下,仍可保证航天器姿态的稳定性。首先,基于Lyapunov稳定性原理,根据系统机械能变化构造了具有普遍性的Lyapunov方程。通过反步递推方法,得到了适用于航天器存在执行器偏差及故障情况的普遍性的容错控制方法;然后,通过误差空间拓扑所得的误差函数描述了势能误差。从几何层面上看,这是描述势能误差的最短路径选择,从而得到了基于误差空间的反步容错控制方法。因此,在对航天器进行姿态控制时,该方法可以迅速调整增益,使得系统姿态误差迅速收敛至零,从而有效减少系统响应时间;最终,通过对考虑执行器偏差及故障情况的航天器姿态控制系统使用不同的控制方法进行数值仿真,验证了该方法能够在执行器故障情况下依然保持系统姿态的稳定,且具备良好的响应速度。
中文关键词: 姿态容错控制;反步控制;执行器偏差;执行器故障;误差空间
Abstract:A spacecraft attitude back-stepping fault-tolerant control method is proposed, which can ensure the stability of spacecraft attitude even considering the deviation and fault of actuators. Firstly, based on the stability principle of Lyapunov, a universal Lyapunov equation is constructed according to the mechanical energy variation of the spacecraft system. By means of back-stepping control method, a universal fault-tolerant control method is obtained for spacecraft with actuator deviation and fault. Then, the potential energy error is described by the error function obtained from the error space topology. From the geometric perspective, this is the shortest path choice to describe the potential energy error. Thus, the back-stepping fault-tolerant control method based on the error space is obtained. Therefore, the control method proposed can quickly adjust the gain so that the attitude error of the spacecraft quickly converges to zero, thus effectively reducing the response time of the system. Finally, by simulating different control methods for spacecraft system considering actuator deviation and fault, it is verified that the back-stepping fault-tolerant control method proposed can maintain the stability of the system attitude under actuator fault and has a good response speed.
keywords: fault-tolerant control; back-stepping; actuator deviation; actuator fault; error space topology
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基金项目:国家自然科学基金重大项目(61690214);国家重点研发计划(2016YFB0501003)
作者单位
韩 宇 上海航天控制技术研究所 上海市空间智能控制技术重点实验室 
樊 炜 上海卫星工程研究所 
曹 涛 上海航天控制技术研究所 上海市空间智能控制技术重点实验室 
Author NameAffiliation
HAN Yu Shanghai Aerospace Control Technology Institute Shanghai Key Laboratory of Aerospace Intelligent Control Technology 
FAN Wei Shanghai Institute of Satellite Engineering 
CAO Tao Shanghai Aerospace Control Technology Institute Shanghai Key Laboratory of Aerospace Intelligent Control Technology 
引用文本:
韩 宇,樊 炜,曹 涛.基于误差空间的航天器姿态反步容错控制[J].飞控与探测,2019,(4):46-54.

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