Finite-time adaptive fault-tolerant control method for rigid aerospace vehicle based on enhanced double-power reaching law and terminal sliding surface
A space vehicle, time-limited technology used in adaptive control, general control systems, control/regulation systems, etc.
Active Publication Date: 2020-02-21
ZHEJIANG UNIV OF TECH
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Problems solved by technology
[0005] In order to solve the nonlinear problems in the existing attitude kinematics and dynamics of the aircraft and realize the external disturbance suppression control, and reduce the chattering problem existing in the sliding mode control, the present invention provides a method based on the enhanced double power reaching law A finite-time adaptive fault-tolerant control method for a rigid aerospace vehicle with a terminal sliding surface, and a finite-time uniformly ultimately bounded control method for the system when there are uncertainties and disturbances in the system
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[0078] The present invention will be further described below in conjunction with the accompanying drawings.
[0079] refer to Figure 1 to Figure 6 , a finite-time adaptive fault-tolerant control method for rigid aerospace vehicles based on enhanced double-power reaching law and terminal sliding surface, including the following steps:
[0080] Step 1, establish the kinematics and dynamics model of the aircraft attitude fault-tolerant control system, initialize the system state and control parameters, the process is as follows:
[0081] 1.1 The expression form of the dynamic model of the aircraft attitude control system is:
[0082]
[0083] in, are the angular velocity and angular acceleration of the aircraft; Ω∈R n is the angular velocity of the reaction flywheel; × is the operation symbol, apply the operation symbol × to a=[a 1 ,a 2 ,a 3 ] T got a × =[0,-a 3 ,a 2 ;a 3 ,0,-a 1 ;-a 2 ,a 1 ,0]; J∈R 3×3 is the rotational inertia matrix of the aircraft; J ω =d...
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The invention discloses a rigid aerospace craft finite time adaptive fault tolerance control method based on an enhanced double power reaching law and a terminal sliding mode surface. Aiming at a problem of posture stability under an aircraft executor fault with centralized uncertainty, the method employs a sliding mode control method based on the enhanced double power reaching law, and combines with the adaptive control, and designs an adaptive rapid terminal sliding mode composite control scheme. According to the scheme of the invention, the adaptive technology is used for the estimation andcompensation of the uncertain and disturbed upper limit, and the finite time posture stabilizing of an aircraft system is achieved through the quickness and high robustness of the rapid terminal sliding mode. The method provided by the invention can reduce the vibration problems of the sliding mode surface and a control moment, and achieves a purpose that the finite time consistency of the systemis finally bounded under the condition that the system has the uncertainty and disturbance.
Description
technical field [0001] The invention relates to a finite-time self-adaptive fault-tolerant control method for a rigid aerospace vehicle based on an enhanced double-power reaching law and a terminal sliding surface, especially under the fault of an aircraft actuator with external disturbance and uncertainty of the rotational inertia matrix attitude control method. Background technique [0002] The attitude control system is one of the important subsystems of the spacecraft. Its reliability and normal operation will directly determine whether the spacecraft can normally complete the scheduled space mission. However, factors such as the harsh space environment and the aging of components lead to the inevitable failure of spacecraft components. If the failure of the spacecraft cannot be detected, located, isolated and handled accordingly in a timely and correct manner, the attitude control performance will be significantly reduced or the system stability will be damaged, and in...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强陶玫玲何熊熊
Owner ZHEJIANG UNIV OF TECH