High-precision attitude fault-tolerant control method for deep space detector

A deep space detector and fault-tolerant control technology, which is applied in attitude control, vehicle position/route/height control, non-electric variable control, etc., can solve the problem of small fault range, low control accuracy, and failure to meet the attitude of deep space detectors Control performance requirements and other issues, to achieve the effect of high attitude control accuracy, strong robustness, and fast convergence rate

Active Publication Date: 2018-09-14
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

Although the above-mentioned control method has achieved some results, there are defects such as low control accuracy and a small range ...

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  • High-precision attitude fault-tolerant control method for deep space detector
  • High-precision attitude fault-tolerant control method for deep space detector
  • High-precision attitude fault-tolerant control method for deep space detector

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[0036] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

[0037] In this case, the dots above the letters all represent the first derivative, and |||| all represent the 2-norm.

[0038] This method is realized through the following steps:

[0039] Step 1, according to figure 1 The installation deviation angle of the reaction flywheel on the three axes is shown, and the installation deviation matrix of the deep space probe can be obtained as:

[0040]

[0041] Each angle in the formula is as figure 1 shown.

[0042] When the reaction flywheel partially fails, its efficiency matrix is: E=diag(e 1 ,e 2 ,e 3 ), where 0i ≤1, i=1,2,3, called the efficiency factor, that is, when 0i When i = 1 means that the reaction flywheel has no loss of efficienc...

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Abstract

The invention discloses a high-precision attitude fault-tolerant control method for a deep space detector, which comprises the following steps: 1) establishing a mathematical model for a reaction flywheel fault and an installation deviation; 2) based on the attitude error quaternion theory, establishing a attitude control system model of the deep space detector; 3) analyzing the uncertainty of a reaction flywheel; 4) designing a fast terminal sliding mode surface; 5) analyzing the total uncertainty of the system; 6) designing an adaptive fast terminal sliding mode controller. The method reanalyzes and redefines the interference and actuator efficiency matrix of the attitude control system, the installation deviation matrix and the deviation torque, effectively solves the coupling problem under various uncertainties of the actuator, does not require a ground console to transmit commands, can realized autonomously the fault-tolerant control of the attitude; is good in robustness, fast inconvergence rate, and achieves high attitude control precision under faults.

Description

technical field [0001] The invention relates to a high-precision attitude fault-tolerant control method of a deep-space detector, belonging to the technical field of automatic control. Background technique [0002] With the rapid development of deep space exploration, the requirements for attitude control of deep space probes are getting higher and higher. On the one hand, deep space probes are huge in size and carry various and complex scientific instruments, so there is bound to be uncertainty in their moment of inertia; Such unknown interference. These two reasons will have a bad influence on the attitude control system of the deep space probe. On the other hand, the actuator of the deep space probe, that is, the reaction flywheel, will deviate from the expected installation position due to the limitation of the installation process and the strong vibration during the launch process, resulting in installation deviation; and the reaction flywheel is high for a long time....

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 齐瑞云苏伟伟张嘉芮陈弈澄
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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