皮纳卫星姿控系统分层式故障检测  

Hierarchical fault detection for nano-pico satellite attitude control system

作　　者：费云 蒙涛[1] 金仲和[1] FEI Yun;MENG Tao;JIN Zhong-he(School of Aeronautics and Astronautics,Zhejiang University,Hangzhou 310027,China)

机构地区：[1]浙江大学航空航天学院,浙江杭州310027

出　　处：《浙江大学学报（工学版）》2020年第4期824-832,共9页Journal of Zhejiang University：Engineering Science

基　　金：国家自然科学基金资助项目(61503334);省级重点研发计划资助项目(209C05004).

摘　　要：为了实现皮纳卫星的多故障在线检测,提出针对姿控系统的分层故障检测方案.该方案将系统划分为系统层和器件层,系统层基于卫星动力学与运动学模型设计非线性观测器,实现姿控分系统故障的全局监测;器件层利用动力学模型设计数字动力学陀螺,结合卡尔曼算法新息以及小波分析,实现故障的定位.通过分层检测,可以支持多器件故障的实时检测,能够检测常见的在轨姿态控制系统故障.仿真结果表明,该方案能够实现多器件同时故障的检测,适应突变、偏差、恒增益、输出卡死等故障类型,检测准确率达到92%,误检率低于2%;由于采用假设检验取代阈值判断,相对于常规小波阈值检测方法,故障检测结果的可靠性更高,适应更多的故障类型,避免了阈值的选取问题,且节省计算资源,无需大量的历史信息,能够满足在线实时检测要求.A hierarchical fault detection scheme for attitude control system was proposed in order to realize the multi-fault online detection of nano-pico satellite.The system was divided into system layer and component layer.The system layer designed nonlinear observer based on satellite dynamics and kinematics model to realize the global monitoring of attitude control system faults.The component layer used dynamic model to design digital dynamic gyro.The fault location can be realized combined with the residual of Kalman algorithm and wavelet analysis.Multicomponent faults can be detected in real time through hierarchical detection.The common on-orbit faults of the attitude control system can be detected.The simulation results show that the scheme can detect simultaneous faults of multiple components,and adapt to fault types such as sudden change,deviation,constant gain,output stuck,etc.The rate of fault detection accuracy reaches 92%,and the false detection rate is less than 2%.Due to the use of hypothesis testing instead of threshold judgment,the fault detection result is more reliable compared with the conventional wavelet detection method.The proposed scheme adapts to more fault types and avoids problems of threshold selection.The scheme saves computing resources,does not need a lot of historical information,and can meet the requirements of online real-time detection.

关 键 词：皮纳卫星 在线检测 分层检测 多器件故障 小波变换 

分 类 号：V448[航空宇航科学与技术—飞行器设计]