Flexible spacecraft fault-tolerant attitude control method based on linear extended state observer

Abstract

A flexible spacecraft fault-tolerant attitude control method based on a linear extended state observer includes the steps: firstly, rewriting a dynamic model of a spacecraft to obtain a mode suitable for designing the linear extended state observer; secondly, designing the linear extended state observer and estimating system state and generalized perturbation by the aid of command control torque and Euler angle measuring information; and finally, designing an efficient robust fault-tolerant controller by the aid of the state and the generalized perturbation estimated by the linear extended state observer. Both the estimation error and the control error are bounded in the scheme, the upper bound of the corresponding error is monotonically decreased when the bandwidths of the observer and the controller are respectively increased, and accordingly, the spacecraft can still realize high-precision attitude control under the condition of flexible vibration, uncertain dynamical parameters and internal and external perturbation when a reaction flywheel serving as an actuating mechanism fails.

Description

technical field [0001] The invention relates to a fault-tolerant attitude control method of a flexible spacecraft based on a linear expansion state observer, which is a robust fault-tolerant attitude control method based on a linear expansion state observer applied to a flexible spacecraft. It belongs to the technical field of spacecraft attitude control. Background technique [0002] Accuracy and reliability are important issues in spacecraft attitude control. However, in the real environment, the spacecraft's multi-flexibility, strong nonlinearity, unmodeled dynamic characteristics, uncertainty of dynamic parameters, internal and external disturbances make it difficult for the attitude control system to achieve the ideal performance. In addition, the failure of actuators, sensors and other system components should also be considered in the design of attitude control system. Because, when the spacecraft works in orbit for a long time, some actuators, sensors and other sys...

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Problems solved by technology

However, the structure of ESO is complex, and its implementation needs to adjust many parameters, which is difficult and time-consuming

In addition, the stability proof or estimation error analysis of high-order ESO is difficult to realize

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