Executing agency normalized reachable set peak -based control allocation method

A technology of executive mechanism and control distribution, applied in the field of spacecraft control, can solve the problems of small storage space occupied, large distribution space, strong real-time computing ability, etc., and achieve the effect of reducing online computing time, narrowing the search range, and saving computing time

Inactive Publication Date: 2010-04-21
HARBIN INST OF TECH
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the existing control allocation method of the redundant actuator configuration scheme cannot simultaneously have a large allo

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  • Executing agency normalized reachable set peak -based control allocation method
  • Executing agency normalized reachable set peak -based control allocation method
  • Executing agency normalized reachable set peak -based control allocation method

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specific Embodiment approach 1

[0033] Specific implementation mode one: the following combination Figure 2 to Figure 6 To illustrate this embodiment, the method of this embodiment includes the following steps:

[0034] Step 1. Determine whether the actuator has fault information,

[0035] If the judgment result is yes, go to step 2, if the judgment result is no, go to step 3,

[0036] Step 2: Calculate and update the reachable set information of the actuator offline,

[0037] The reachable set information includes the vertex information of the reachable set envelope surface of each actuator, the reachable set information unit ball, the reachable set envelope surface information and the saturation control amount information corresponding to the reachable set envelope surface vertex,

[0038] According to the configuration information of the actuator, the vertices of the reachable set envelope surface of each actuator are obtained, the vertices of the reachable set envelope surface are normalized, the reac...

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Abstract

The invention discloses an executing agency normalized reachable set peak-based control allocation method, which belongs to the field of spacecraft control, and aims at solving the problem that the allocation control method of the traditional redundancy executing agency configuration scheme cannot achieve large allocating space, strong real-time calculating capability and small memory space occupation at the same time. The method of the invention comprises the following steps: 1, judging whether an executing agency has fault information, wherein if an executing agency has fault information, a step 2 is performed, or a step 3 is performed; 2, calculating and updating the reachable information of the executing agent offline; 3, normalizing an expected control quantity given by a system, and forming an expected unit torque point by intersecting with a reachable information unit ball; 4, determining n peaks of a normalized reachable enveloping surface adjacent to the expected unit torque point on said reachable information unit ball; 5, checking one by one to determine a reachable enveloping surface intersected with a ray in the direction of the expected unit torque; and 6, finishing calculating the control quantity of each executing agency according to the control quantity corresponding to the peaks of the reachable enveloping surface.

Description

technical field [0001] The invention relates to a control distribution method based on a normalized reachable set vertex of an actuator, which belongs to the field of spacecraft control. Background technique [0002] Modern small satellites are developing in the direction of high functional density and high reliability. In order to improve the reliability of the satellite control system, the actuator usually adopts a backup device. The working form of the traditional cold backup mode is: the backup mechanism directly corresponds to a single main actuator, and when a main actuator fails, the backup mechanism corresponding to it will take over. The cold standby model cannot effectively utilize the execution capabilities of the backup mechanism and runs counter to the functional density requirements. In order to overcome the shortcomings of the cold backup working mode, the new design considers the redundant arrangement of the actuator. The actuators are mutual backups. When...

Claims

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Application Information

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IPC IPC(8): B64G1/24
Inventor 曹喜滨唐生勇张世杰
Owner HARBIN INST OF TECH
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