控制受限的挠性航天器姿态容错控制
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摘要
航天器在轨飞行任务中,一方面,由于执行机构长期不断地执行在轨的各种控制操作,所导致的执行机构故障已成为航天器控制系统失效的主要原因,而系统的失效,轻则导致精度、性能的降低,重则造成航天器失效;另一方面,燃料的消耗、有效载荷的运动以及挠性附件结构的振动,致使航天器的惯量参数是时变的且不能精确获知;同时在轨航天器又不可避免地受到各种外部干扰力矩与挠性结构的振动干扰作用;此外,由于执行机构自身的物理限制,导致其输出是有界受限的,这种饱和特性的存在将大大降低航天器姿态控制性能,严重时将导致闭环系统不稳定,从而也将使整个航天任务失败。因此针对上述问题,研究一类航天器在轨执行任务过程中存在执行机构故障、不确定性、外部干扰以及控制输入饱和非线性的鲁棒容错控制技术便显得十分重要。本论文结合国家自然科学基金、高等学校博士学科点专项科研基金等基础研究课题,从理论和应用两方面对挠性航天器的动力学建模、控制受限的挠性航天器姿态控制、鲁棒容错姿态控制、挠性结构振动抑制等方面进行了深入的研究,其研究内容主要包括以下几个方面。
根据欧拉定理分别建立了用欧拉角和四元数描述的挠性航天器姿态运动学方程,并基于真-伪坐标形式的Lagrange理论建立了挠性航天器的动力学模型,给出了挠性航天器非线性、低阶模态动力学模型以便于后续姿态控制系统的分析和设计。
针对挠性航天器存在参数不确定性、外部干扰以及控制力矩受限的姿态机动问题,在基于非线性和低阶模态的动力学模型基础上,提出了一种将变结构控制与神经网络控制相结合的智能鲁棒控制方法。该方法是一种仅利用姿态角速度反馈而无需挠性模态信息反馈的变结构输出反馈控制器的设计方法,其中,神经网络逼近技术被用来补偿执行机构饱和非线性。在此基础上,又给出了一种改进的自适应变结构输出反馈控制器的设计方法,以克服确定不确定性和外干扰界函数上限的困难;基于Lyapunov稳定性理论对两类设计方法分析了滑动模态的存在性及闭环系统的稳定性。通过与传统控制方法控制性能相比,仿真结果表明两种控制器在完成姿态机动的同时,可有效地补偿执行机构的非线性饱和特性与抑制挠性附件的振动。
针对一类航天器存在未知惯量参数、干扰力矩与执行机构失效的姿态机动问题,利用航天器上执行机构冗余的有效资源,提出了一种将自适应变结构控制与时延技术相结合的鲁棒容错控制方法,该方法在继承变结构鲁棒控制优点的同时,引入控制参数在线自适应调整技术,提高了控制律对参数和干扰变化的自适应能力,以克服确定这些界函数的困难;同时,利用时延技术的逼近能力来补偿执行机构的故障,使得控制器对执行机构的失效具有很强的容错能力;对设计者而言,执行机构故障信息不需要进行在线的检测和分离。将设计的控制器应用于航天器的姿态机动控制,并与传统控制方法控制性能相比,仿真结果表明该控制器能有效地抑制外部干扰、参数不确定性和执行机构失效的约束,在完成姿态调节控制的同时,具有良好的过渡过程品质。
为了进一步抑制挠性结构的振动,在内回路设计了应变率反馈(SRF)补偿器以增加挠性结构阻尼,使挠性结构的振动能够很快衰减,以对挠性结构进行主动振动控制;在上述研究的基础上,进一步考虑控制存在输入饱和受限的鲁棒容错控制问题,提出了一类基于变结构控制的主动鲁棒容错控制设计方法。该设计在继承变结构控制的优点的同时,显式地引入执行器输出的饱和幅值,以确保控制输出在其要求界的范围内以避免饱和非线性对系统的影响,而且对设计者而言,执行器故障信息不需要进行在线的检测和分离。此外,通过将基于应变率反馈的振动补偿器与容错控制器相结合的复合主动振动容错控制方法应用于航天器进行仿真验证,结果表明该控制器能有效地抑制外部干扰、挠性结构的振动和执行器故障的约束,在完成姿态调节控制的同时,保证其控制输出满足饱和受限界的要求,具有良好的过渡过程品质,不仅具有一定的理论研究价值,而且具有一定的工程应用前景。
Accurate and reliable control is one of the most important problems in spacecraft design. Although the missions of space vehicles and their attitude requirements vary greatly, high pointing accuracy and fault tolerance are important parts of the overall design problem for the spacecraft control system. However, the orbiting attitude slewing or tracking operation will introduce certain levels of vibration to flexible appendages, which will deteriorate its pointing performance. Dynamics of spacecraft are time varying and highly nonlinear, and they are affected by various disturbances coming from the environment and knowledge about system parameters such as the inertia matrix, which are usually not well known. Moreover, due to physical limitation, momentum exchange devices or thrusters as actuator for the spacecraft attitude control plant fail to render infinite control torque and thus the actuator outputs are constantly bounded or constrained. Once the actuator reaches its input limit, the efforts to further increase the actuator output would not result in any variation in the output, and then this usually deteriorates the system performance and even results in system instability. In addition, actuators may fail during system operation, and the actuator failures are often uncertain in the sense that it is not known when, how much, and how many actuators fail. All these in a realistic environment create considerable difficulty in the design of attitude control system for adequate performance and stability, especially, when all these issues are treated simultaneously. In this dissertation, dynamic modeling, attitude control with control input constraint, robust fault tolerant attitude control and vibration control of spacecraft with flexible appendages are deeply studied, which is funded by the National Natural Science Foundation of China and the Research Fund of the Doctoral Program of Higher Education of China. The main contents of this dissertation are presented as follows:
Flexible spacecraft attitude kinematics described by Euler angle and unit quaternion is presented based upon Euler Theorem, and with assumption of small elastic displacements, an approximately analytical dynamic model of spacecraft is derived using Lagrange’s principle. For the purpose of control law design, a reduced-order model of flexible spacecraft is then developed.
Neural network (NN) based robust controller for rotation maneuver is considered for an orbiting flexible spacecraft, explicitly taking into account the actuator saturation, uncertainties and external disturbances. The actuator saturation is assumed to be unknown and treated as the system input disturbance. With the universal approximating property and learning capability of NN, the NN-based saturation compensator is design and inserted into a feed-forward to compensate the saturation nonlinearity. Then a variable structure controller, which only uses the output information, is designed to reject the disturbance, deal with uncertainty and ensure that the system trajectories globally uniformly ultimately bounded. In addition, a modified adaptation control law is presented for the upper bound on the uncertainty to improve the adaptive performances such that a new controller is designed which can guarantee the boundedness of the estimated gains when the boundary layer technique is employed. To study the effectiveness of the corresponding control scheme, the traditional methods are also developed for the control system. Both analytical and numerical results are presented to show the theoretical and practical merit of this approach.
Time-delay-control (TDC) based adaptive variable structure control (AVSC) system is designed for spacecraft attitude maneuvers with redundant actuators in the presence of actuator failures, parametric uncertainties and external disturbances. More specifically, this proposed scheme combined the TDC and AVSC design technique such that this design does not require the knowledge of the boundedness of the considered uncertainties/disturbances, and only one parameters are required to be updated in the adaptive loop; with the TDC, the unknown actuator faults are estimated by using one-step previous state information and canceled out by the estimated values such that it does not need a fault detection and isolation mechanism. Lyapunov stability analysis shows that the resulting closed-loop system is proven to be stable and the effect of the external disturbances and possible uncertainties on the output can be attenuated by appropriately choosing the design parameters. Furthermore, the benefits of the control approach is analytically authenticated and also validated via simulation study.
For further suppressing the flexible vibration, the inner-control loop uses the piezoceramics as sensors and actuators to actively suppress certain flexible modes by designing strain rate feedback (SRF) compensators. An attractive feature of the method is that the vibration reduction and attitude control are achieved separately in the two separate feedback loops, allowing the pointing requirements and simultaneous vibrations suppression to be satisfied independently of one another. Then, for the outer-loop, a variable structure based fault tolerant attitude control system is further investigated for an orbiting three-axis stabilized flexible spacecraft with redundant thrusters, in which the thruster failures, control input saturation and external disturbances are explicitly taken into account simultaneously. In addition, by explicitly considering the saturation magnitude of the available control input of thruster, a straightforward relationship between this magnitude and those of the desired trajectories and disturbances even with continuous control is established. Lyapunov stability analysis shows that the resulting closed-loop system is proven to be stable and the effect of the external disturbances and faults can be attenuated by appropriately choosing the design parameters. Numerical examples are also presented to demonstrate that the control algorithms developed are not only robust against external disturbances, but also able to accommodate thruster failures under limited saturation value.
根据欧拉定理分别建立了用欧拉角和四元数描述的挠性航天器姿态运动学方程,并基于真-伪坐标形式的Lagrange理论建立了挠性航天器的动力学模型,给出了挠性航天器非线性、低阶模态动力学模型以便于后续姿态控制系统的分析和设计。
针对挠性航天器存在参数不确定性、外部干扰以及控制力矩受限的姿态机动问题,在基于非线性和低阶模态的动力学模型基础上,提出了一种将变结构控制与神经网络控制相结合的智能鲁棒控制方法。该方法是一种仅利用姿态角速度反馈而无需挠性模态信息反馈的变结构输出反馈控制器的设计方法,其中,神经网络逼近技术被用来补偿执行机构饱和非线性。在此基础上,又给出了一种改进的自适应变结构输出反馈控制器的设计方法,以克服确定不确定性和外干扰界函数上限的困难;基于Lyapunov稳定性理论对两类设计方法分析了滑动模态的存在性及闭环系统的稳定性。通过与传统控制方法控制性能相比,仿真结果表明两种控制器在完成姿态机动的同时,可有效地补偿执行机构的非线性饱和特性与抑制挠性附件的振动。
针对一类航天器存在未知惯量参数、干扰力矩与执行机构失效的姿态机动问题,利用航天器上执行机构冗余的有效资源,提出了一种将自适应变结构控制与时延技术相结合的鲁棒容错控制方法,该方法在继承变结构鲁棒控制优点的同时,引入控制参数在线自适应调整技术,提高了控制律对参数和干扰变化的自适应能力,以克服确定这些界函数的困难;同时,利用时延技术的逼近能力来补偿执行机构的故障,使得控制器对执行机构的失效具有很强的容错能力;对设计者而言,执行机构故障信息不需要进行在线的检测和分离。将设计的控制器应用于航天器的姿态机动控制,并与传统控制方法控制性能相比,仿真结果表明该控制器能有效地抑制外部干扰、参数不确定性和执行机构失效的约束,在完成姿态调节控制的同时,具有良好的过渡过程品质。
为了进一步抑制挠性结构的振动,在内回路设计了应变率反馈(SRF)补偿器以增加挠性结构阻尼,使挠性结构的振动能够很快衰减,以对挠性结构进行主动振动控制;在上述研究的基础上,进一步考虑控制存在输入饱和受限的鲁棒容错控制问题,提出了一类基于变结构控制的主动鲁棒容错控制设计方法。该设计在继承变结构控制的优点的同时,显式地引入执行器输出的饱和幅值,以确保控制输出在其要求界的范围内以避免饱和非线性对系统的影响,而且对设计者而言,执行器故障信息不需要进行在线的检测和分离。此外,通过将基于应变率反馈的振动补偿器与容错控制器相结合的复合主动振动容错控制方法应用于航天器进行仿真验证,结果表明该控制器能有效地抑制外部干扰、挠性结构的振动和执行器故障的约束,在完成姿态调节控制的同时,保证其控制输出满足饱和受限界的要求,具有良好的过渡过程品质,不仅具有一定的理论研究价值,而且具有一定的工程应用前景。
Accurate and reliable control is one of the most important problems in spacecraft design. Although the missions of space vehicles and their attitude requirements vary greatly, high pointing accuracy and fault tolerance are important parts of the overall design problem for the spacecraft control system. However, the orbiting attitude slewing or tracking operation will introduce certain levels of vibration to flexible appendages, which will deteriorate its pointing performance. Dynamics of spacecraft are time varying and highly nonlinear, and they are affected by various disturbances coming from the environment and knowledge about system parameters such as the inertia matrix, which are usually not well known. Moreover, due to physical limitation, momentum exchange devices or thrusters as actuator for the spacecraft attitude control plant fail to render infinite control torque and thus the actuator outputs are constantly bounded or constrained. Once the actuator reaches its input limit, the efforts to further increase the actuator output would not result in any variation in the output, and then this usually deteriorates the system performance and even results in system instability. In addition, actuators may fail during system operation, and the actuator failures are often uncertain in the sense that it is not known when, how much, and how many actuators fail. All these in a realistic environment create considerable difficulty in the design of attitude control system for adequate performance and stability, especially, when all these issues are treated simultaneously. In this dissertation, dynamic modeling, attitude control with control input constraint, robust fault tolerant attitude control and vibration control of spacecraft with flexible appendages are deeply studied, which is funded by the National Natural Science Foundation of China and the Research Fund of the Doctoral Program of Higher Education of China. The main contents of this dissertation are presented as follows:
Flexible spacecraft attitude kinematics described by Euler angle and unit quaternion is presented based upon Euler Theorem, and with assumption of small elastic displacements, an approximately analytical dynamic model of spacecraft is derived using Lagrange’s principle. For the purpose of control law design, a reduced-order model of flexible spacecraft is then developed.
Neural network (NN) based robust controller for rotation maneuver is considered for an orbiting flexible spacecraft, explicitly taking into account the actuator saturation, uncertainties and external disturbances. The actuator saturation is assumed to be unknown and treated as the system input disturbance. With the universal approximating property and learning capability of NN, the NN-based saturation compensator is design and inserted into a feed-forward to compensate the saturation nonlinearity. Then a variable structure controller, which only uses the output information, is designed to reject the disturbance, deal with uncertainty and ensure that the system trajectories globally uniformly ultimately bounded. In addition, a modified adaptation control law is presented for the upper bound on the uncertainty to improve the adaptive performances such that a new controller is designed which can guarantee the boundedness of the estimated gains when the boundary layer technique is employed. To study the effectiveness of the corresponding control scheme, the traditional methods are also developed for the control system. Both analytical and numerical results are presented to show the theoretical and practical merit of this approach.
Time-delay-control (TDC) based adaptive variable structure control (AVSC) system is designed for spacecraft attitude maneuvers with redundant actuators in the presence of actuator failures, parametric uncertainties and external disturbances. More specifically, this proposed scheme combined the TDC and AVSC design technique such that this design does not require the knowledge of the boundedness of the considered uncertainties/disturbances, and only one parameters are required to be updated in the adaptive loop; with the TDC, the unknown actuator faults are estimated by using one-step previous state information and canceled out by the estimated values such that it does not need a fault detection and isolation mechanism. Lyapunov stability analysis shows that the resulting closed-loop system is proven to be stable and the effect of the external disturbances and possible uncertainties on the output can be attenuated by appropriately choosing the design parameters. Furthermore, the benefits of the control approach is analytically authenticated and also validated via simulation study.
For further suppressing the flexible vibration, the inner-control loop uses the piezoceramics as sensors and actuators to actively suppress certain flexible modes by designing strain rate feedback (SRF) compensators. An attractive feature of the method is that the vibration reduction and attitude control are achieved separately in the two separate feedback loops, allowing the pointing requirements and simultaneous vibrations suppression to be satisfied independently of one another. Then, for the outer-loop, a variable structure based fault tolerant attitude control system is further investigated for an orbiting three-axis stabilized flexible spacecraft with redundant thrusters, in which the thruster failures, control input saturation and external disturbances are explicitly taken into account simultaneously. In addition, by explicitly considering the saturation magnitude of the available control input of thruster, a straightforward relationship between this magnitude and those of the desired trajectories and disturbances even with continuous control is established. Lyapunov stability analysis shows that the resulting closed-loop system is proven to be stable and the effect of the external disturbances and faults can be attenuated by appropriately choosing the design parameters. Numerical examples are also presented to demonstrate that the control algorithms developed are not only robust against external disturbances, but also able to accommodate thruster failures under limited saturation value.
引文
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