采用简化滤波器思想的卫星姿态确定系统故障诊断
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摘要
针对星上计算机运算资源有限的问题,为了降低卫星姿态确定系统故障诊断的运算量,提出一种基于卡尔曼滤波器的故障检测与分离方法。该方法首先基于卫星姿态运动方程设计了一种加性卡尔曼滤波器,然后将卡尔曼滤波器与简化观测器思想相结合,进一步提出一种采用简化滤波器思想的姿态敏感器故障诊断律。所提出的故障诊断方法既可以实现对陀螺故障的检测与分离,又能够诊断星敏感器的故障。此外,该方法只利用一个滤波器即可实现故障检测与分离,其计算量小,有利于在轨实施。最终采用一个由三正交一斜装陀螺组件和星敏感器构成的姿态确定系统对所提出的方法进行了仿真校验,仿真结果表明了所提方法的有效性。
Considering the fact that the computation resources of an on-orbit computer are limited,this paper proposes a fault detection and isolation method based on a Kalman filter to reduce the computation load of the fault diagnosis for a satellite attitude determination system. In the proposed method,a novel additive Kalman filter is designed based on the attitude kinematics,and then a sensor fault diagnosis method is presented using the simplified filter scheme by integrating the Kalman filter with the simplified observer scheme( SOS). The proposed fault diagnosis method not only can detect and isolate the gyro fault,but also can diagnose the fault of the star sensor. In this method,only one filter is used to achieve the fault detection and isolation. Moreover,it is easy for computation and hence is useful in on-orbit implementation. The proposed method is verified by an attitude determination system consisting of a tri-orthogonal-one-slant gyro component and a star sensor. The simulation results show the effectiveness of the proposed method.
Considering the fact that the computation resources of an on-orbit computer are limited,this paper proposes a fault detection and isolation method based on a Kalman filter to reduce the computation load of the fault diagnosis for a satellite attitude determination system. In the proposed method,a novel additive Kalman filter is designed based on the attitude kinematics,and then a sensor fault diagnosis method is presented using the simplified filter scheme by integrating the Kalman filter with the simplified observer scheme( SOS). The proposed fault diagnosis method not only can detect and isolate the gyro fault,but also can diagnose the fault of the star sensor. In this method,only one filter is used to achieve the fault detection and isolation. Moreover,it is easy for computation and hence is useful in on-orbit implementation. The proposed method is verified by an attitude determination system consisting of a tri-orthogonal-one-slant gyro component and a star sensor. The simulation results show the effectiveness of the proposed method.
引文
[1]Li Z,Liu G,Zhang R,et al.Fault detection,identification and reconstruction for gyroscope in satellite based on independent component analysis[J].Acta Astronautica,2011,68(7-8):1015-1023.
[2]Tafazoli M.A study of on-orbit spacecraft failures[J].Acta Astronautica,2009,64(2-3):195-205.
[3]Chiang L H,Russel E L,Braatz R D.Fault detection and diagnosis in industrial systems[M].London:Springer-Verlag,2002.
[4]姜斌,冒泽慧,杨浩,等.控制系统的故障诊断与故障调节[M].北京:国防工业出版社,2009.
[5]杨光红,王恒,李霄剑.基于模型的线性控制系统故障检测方法[M].北京:科学出版社,2010.
[6]周东华,叶银忠.现代故障诊断与容错控制[M].北京:清华大学出版社,2000.
[7]邢琰,吴宏鑫,王晓磊,等.航天器故障诊断与容错控制技术综述[J].宇航学报,2003,24(3):221-226.[Xing Yan,Wu Hong-xin,Wang Xiao-lei,et al.Survey of fault diagnosis and fault-tolerant control technology for spacecraft[J].Journal of Astronautics,2003,24(3):221-226.]
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[9]宋征宇.运载火箭远程故障诊断技术综述[J].宇航学报,2016,37(2):135-144.[Song Zheng-yu.The survey of launch vehicle long distance fault diagnosis technique[J].Journal of Astronautics,2016,37(2):135-144.]
[10]Venkateswaran N,Siva M S,Goel P S.Analytical redundancy based fault detection of gyroscopes in spacecraft applications[J].Acta Astronautica,2002,50(9):535-545.
[11]Shen Y,Wang Z,Zhang X.Fault diagnosis and fault-tolerant control for sampled-data attitude control systems:an indirect approach[J].Proceedings of the Institution of Mechanical Engineers,Part G:Journal of Aerospace Engineering,2014,228(7):1047-157.
[12]Jia Q,Chen W,Zhang Y,et al.Integrated design of fault reconstruction and fault-tolerant control against actuator faults using learning observers[J].International Journal of Systems Science,2016,47(16):3749-3761.
[13]Cheng Y,Wang R,Xu M,et al.Simultaneous state and actuator fault estimation for satellite attitude control systems[J].Chinese Journal of Aeronautics,2016,29(3):714-721.
[14]贾庆贤,张迎春,陈雪芹,等.卫星姿态控制系统故障重构观测器设计[J].宇航学报,2016,37(4):442-450.[Jia Qing-xian,Zhang Ying-chun,Chen Xue-qin,et al.Observer design for fault reconstruction in satellite attitude control system[J].Journal of Astronautics,2016,37(4):442-450.]
[15]李冬柏,陈雪芹,李诚良.基于偏差分离原理的卫星执行机构故障诊断[J].系统工程与电子技术,2015,37(3):606-612.[Li Dong-bai,Chen Xue-qin,Li Cheng-liang.Fault diagnosis of satellite actuator based on bias-separated theory[J].Systems Engineering and Electronics,2015,37(3):606-612.]
[16]Pirmoradi F N,Sassani F,De Silva C W.Fault detection and diagnosis in a spacecraft attitude determination system[J].Acta Astronautica,2009,65(5-6):710-729.
[17]Wang Z,Shen Y,Zhang X.Attitude sensor fault diagnosis based on Kalman filter of discrete-time descriptor system[J].Journal of Systems Engineering and Electronics,2012,23(6):683-687.
[18]Gao Z,Jiang B,Shi P,et al.Sensor fault estimation and compensation for microsatellite attitude control systems[J].International Journal of Control,Automation,and Systems,2010,8(2):228-237.
[19]邢琰,魏春岭.基于四元数估计角速率的陀螺故障定位[J].宇航学报,2003,24(4):410-413.[Xing Yan,Wei Chunling.Fault location of single redundant gyroscopes based on estimated angular rate using quaternion[J].Journal of Astronautics,2003,24(4):410-413.]
[20]耿云海,金荣玉,陈雪芹,等.执行机构故障的航天器姿态容错控制[J].宇航学报,2017,38(11):1186-1194.[Geng Yun-hai,Jin Rong-yu,Chen Xue-qin,et al.Spacecraft attitude fault tolerant control with actuator fault[J].Journal of Astronautics,2017,38(11):1186-1194.]
[21]Li L,Wang Z,Shen Y.Fault diagnosis for attitude sensors via a bank of extended Kalman filters[C].The 35th Chinese Control Conference,Chengdu,China,July 27-29,2016.
[22]王振华,沈毅,张筱磊.基于数值微分方法的卫星陀螺故障诊断[J].宇航学报,2012,33(9):1262-1268.[Wang Zhenhua,Shen Yi,Zhang Xiao-lei.Satellite gyroscopes fault diagnosis based on numerical differentiation scheme[J].Journal of Astronautics,2012,33(9):1262-1268.]
[2]Tafazoli M.A study of on-orbit spacecraft failures[J].Acta Astronautica,2009,64(2-3):195-205.
[3]Chiang L H,Russel E L,Braatz R D.Fault detection and diagnosis in industrial systems[M].London:Springer-Verlag,2002.
[4]姜斌,冒泽慧,杨浩,等.控制系统的故障诊断与故障调节[M].北京:国防工业出版社,2009.
[5]杨光红,王恒,李霄剑.基于模型的线性控制系统故障检测方法[M].北京:科学出版社,2010.
[6]周东华,叶银忠.现代故障诊断与容错控制[M].北京:清华大学出版社,2000.
[7]邢琰,吴宏鑫,王晓磊,等.航天器故障诊断与容错控制技术综述[J].宇航学报,2003,24(3):221-226.[Xing Yan,Wu Hong-xin,Wang Xiao-lei,et al.Survey of fault diagnosis and fault-tolerant control technology for spacecraft[J].Journal of Astronautics,2003,24(3):221-226.]
[8]姜连祥,李华旺,杨根庆,等.航天器自主故障诊断技术研究进展[J].宇航学报,2009,30(4):1320-1326.[Jiang Lian-xiang,Li Hua-wang,Yang Gen-qing,et al.A survey of spacecraft autonomous fault diagnosis research[J].Journal of Astronautics,2009,30(4):1320-1326.]
[9]宋征宇.运载火箭远程故障诊断技术综述[J].宇航学报,2016,37(2):135-144.[Song Zheng-yu.The survey of launch vehicle long distance fault diagnosis technique[J].Journal of Astronautics,2016,37(2):135-144.]
[10]Venkateswaran N,Siva M S,Goel P S.Analytical redundancy based fault detection of gyroscopes in spacecraft applications[J].Acta Astronautica,2002,50(9):535-545.
[11]Shen Y,Wang Z,Zhang X.Fault diagnosis and fault-tolerant control for sampled-data attitude control systems:an indirect approach[J].Proceedings of the Institution of Mechanical Engineers,Part G:Journal of Aerospace Engineering,2014,228(7):1047-157.
[12]Jia Q,Chen W,Zhang Y,et al.Integrated design of fault reconstruction and fault-tolerant control against actuator faults using learning observers[J].International Journal of Systems Science,2016,47(16):3749-3761.
[13]Cheng Y,Wang R,Xu M,et al.Simultaneous state and actuator fault estimation for satellite attitude control systems[J].Chinese Journal of Aeronautics,2016,29(3):714-721.
[14]贾庆贤,张迎春,陈雪芹,等.卫星姿态控制系统故障重构观测器设计[J].宇航学报,2016,37(4):442-450.[Jia Qing-xian,Zhang Ying-chun,Chen Xue-qin,et al.Observer design for fault reconstruction in satellite attitude control system[J].Journal of Astronautics,2016,37(4):442-450.]
[15]李冬柏,陈雪芹,李诚良.基于偏差分离原理的卫星执行机构故障诊断[J].系统工程与电子技术,2015,37(3):606-612.[Li Dong-bai,Chen Xue-qin,Li Cheng-liang.Fault diagnosis of satellite actuator based on bias-separated theory[J].Systems Engineering and Electronics,2015,37(3):606-612.]
[16]Pirmoradi F N,Sassani F,De Silva C W.Fault detection and diagnosis in a spacecraft attitude determination system[J].Acta Astronautica,2009,65(5-6):710-729.
[17]Wang Z,Shen Y,Zhang X.Attitude sensor fault diagnosis based on Kalman filter of discrete-time descriptor system[J].Journal of Systems Engineering and Electronics,2012,23(6):683-687.
[18]Gao Z,Jiang B,Shi P,et al.Sensor fault estimation and compensation for microsatellite attitude control systems[J].International Journal of Control,Automation,and Systems,2010,8(2):228-237.
[19]邢琰,魏春岭.基于四元数估计角速率的陀螺故障定位[J].宇航学报,2003,24(4):410-413.[Xing Yan,Wei Chunling.Fault location of single redundant gyroscopes based on estimated angular rate using quaternion[J].Journal of Astronautics,2003,24(4):410-413.]
[20]耿云海,金荣玉,陈雪芹,等.执行机构故障的航天器姿态容错控制[J].宇航学报,2017,38(11):1186-1194.[Geng Yun-hai,Jin Rong-yu,Chen Xue-qin,et al.Spacecraft attitude fault tolerant control with actuator fault[J].Journal of Astronautics,2017,38(11):1186-1194.]
[21]Li L,Wang Z,Shen Y.Fault diagnosis for attitude sensors via a bank of extended Kalman filters[C].The 35th Chinese Control Conference,Chengdu,China,July 27-29,2016.
[22]王振华,沈毅,张筱磊.基于数值微分方法的卫星陀螺故障诊断[J].宇航学报,2012,33(9):1262-1268.[Wang Zhenhua,Shen Yi,Zhang Xiao-lei.Satellite gyroscopes fault diagnosis based on numerical differentiation scheme[J].Journal of Astronautics,2012,33(9):1262-1268.]