漂浮基空间机器人固定时间收敛主动容错控制  

Active fault tolerant control for free-floating space robots with fixed time convergence

作　　者：汤万兴 艾海平 陈力[1] TANG Wanxing;AI Haiping;CHEN Li(School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou,Fujian 350108,China;College of Energy and Mechanical Engineering,Jiangxi University of Science and Technology,Nanchang,Jiangxi 330013,China)

机构地区：[1]福州大学机械工程及自动化学院,福建福州350108 [2]江西理工大学能源与机械工程学院,江西南昌330013

出　　处：《福州大学学报（自然科学版）》2022年第5期650-657,共8页Journal of Fuzhou University(Natural Science Edition)

基　　金：福建省科技重大专项基金资助项目(2021HZ024006);江西省教育厅科技资助项目(GJJ200864);江西理工大学博士科研启动金资助项目(205200100514)。

摘　　要：针对载体位置不控、姿态受控的空间机器人存在执行机构失效及偏置故障的轨迹跟踪问题,设计基于固定时间收敛的主动容错滑模控制算法.首先结合拉格朗日法推导出包含力矩偏置及力矩失效故障的空间机器人系统动力学方程;其次,为消除故障对系统稳定性的影响,引入扩张状态观测器以实现对故障的动态观测,并在此基础上设计基于固定时间收敛滑模控制器以实现主动容错控制;最后进行仿真验算.结果表明,所提方法的收敛时间与系统初始状态无关,仅需调节控制参数即可保证系统轨迹在固定时间内收敛.同时,该算法可对故障进行精确观测,并在失效故障和偏置故障发生时保证系统轨迹精确跟踪及稳定控制,相较于其他算法收敛时间更短、稳态误差更小、拥有出色的故障观测能力和更强的容错控制能力.An active fault tolerant control algorithm with fixed time convergence was proposed for a free-floating space robot with loss-of-effectiveness fault and bias fault.Firstly,the dynamic equation of the space robot with both faults was derived using Lagrange equation.Next,to eliminate the influence of fault on the system,an extended state observer was used to estimate the fault of the robot dynamically,and further more a fixed time sliding mode controller was designed to realize active fault tolerant control for the system.The convergence time is independent of the initial state of the system,and it can be adjusted by changing the parameters of the controller.Finally,the simulation results demonstrate that the proposed strategy can observe the faults accurately and guarantee the tracking precision and stability of the system with the occurrence of the loss-of-effectiveness fault and bias fault,and at the same time,the proposed algorithm has the advantage of less convergence time,smaller error,excellent fault observation ability and stronger fault tolerance.

关 键 词：漂浮基空间机器人 力矩偏置 力矩失效 主动容错控制 固定时间收敛 观测器 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TH691.9[自动化与计算机技术—控制科学与工程]