基于新型终端滑模的航天器执行器故障容错姿态控制  

Novel Terminal Sliding Mode Based Fault Tolerant Attitude Control for Spacecraft Under Actuator Faults

作　　者：胡庆雷[1] 姜博严 石忠[2,3] 

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001 [2]中国民航大学航空自动化学院,天津300300 [3]滨州职业学院,山东滨州256603

出　　处：《航空学报》2014年第1期249-258,共10页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(61004072;61174200;61273175);教育部新世纪优秀人才计划(NCET-11-0801);黑龙江省青年科学基金(QC2012C024)~~

摘　　要：针对受干扰的刚体航天器冗余执行器存在故障与控制受限的姿态跟踪控制问题,提出一类基于新型指数形式的非奇异快速滑模面(ENFTSM)与趋近律的姿态容错控制器设计方法。当部分推力器发生故障时,假设剩余推力器具有输出饱和特性且能提供足够推力保证航天器执行任务,相比一般终端滑模控制器,本文设计的控制器不仅能使系统状态以更快的速度到达平衡点,且不需要在线对执行器故障信息进行检测和分离。基于Lyapunov方法证明本文设计的控制器能保证闭环系统稳定,且能有效地抑制外部干扰、控制受限和执行器故障等约束。最后对提出的控制算法进行了数值仿真,其结果表明了该控制器的有效性。An exponent nonsingular fast terminal sliding mode （ENFTSM） control law is investigated in this paper for a rigid spacecraft with redundant thrusters in which thruster faults, and control input saturation as well as external disturbances have to be explicitly considered simultaneously. More specifically, in this proposed control scheme, fast convergence of space- craft attitude tracking is achieved and faster reaching time can be guaranteed in comparison with the terminal sliding mode. When thruster fault occurs, the control parameters are adjusted dynamically in such a fashion that no fault detection and isola-tion mechanism is required in advance, and only the remaining active thrusters are assumed to be able to produce a com-bined force sufficient to allow the spacecraft to perform the given operations within the saturation magnitude. Lyapunov sta-bility analysis shows that the resulting closed-loop system is stable it can withstand the effect of external disturbances, con-trol input saturation and even faults by appropriately choosing the design parameters. The attitude tracking performance using the controller is evaluated through a numerical example.

关 键 词：航天器 执行器故障 控制受限 容错控制 终端滑模 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计] TP13[自动化与计算机技术—控制理论与控制工程]