Spacecraft amplitude limiting adaptive attitude cooperative fault tolerant control method

A fault-tolerant control and fault-tolerant controller technology, applied in the field of multi-spacecraft formation flight, can solve the problems of mission failure, failure, unknown degree of spacecraft change, etc., to achieve the effect of easy engineering implementation and simple structure

Inactive Publication Date: 2018-10-09
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0004] With the continuous deepening of human research in the field of aerospace, more and more major space missions have been put into engineering practice. However, due to the special operating environment and complex structure of the spacecraft, sometimes failures inevitably occur, and eventually the mission fails. It has caused serious losses and impacts on sociopolitical, economic and even military aspects, and people are increasingly aware of the importance of reliability and fault handli

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  • Spacecraft amplitude limiting adaptive attitude cooperative fault tolerant control method
  • Spacecraft amplitude limiting adaptive attitude cooperative fault tolerant control method
  • Spacecraft amplitude limiting adaptive attitude cooperative fault tolerant control method

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Embodiment

[0050] A formation system consisting of 4 follower spacecraft and 1 leader is used as the research object, and the specific parameters are as follows:

[0051] Table 1. Spacecraft inertia matrix and initial attitude

[0052]

[0053] Leader trajectory: ω 0 =[0.1sin(0.2t),0.1cos(0.2t),0.1cos(0.5t)] T ,q 0 and q 00 It can be obtained by kinematic equation (1). The total number of actuators σ=6, the torque limit is τ 1max =[4,4,5,5,6,6] T Nm, τ 2max =[7,7,8,8,5,5] T Nm, τ 3max =[8,8,5,5,6,6] T Nm, τ 4max =[6,6,4,4,5,5] T Nm. external disturbance τ id =(0.5+||ω i || 2 )[0.02sin(t),0.05cos(t),0.03cos(t)] T , i=1,2,3,4. The controller parameter is k 1 =k 2 =k 3 =k 4 =15,k 11 =k 21 =k 31 =k 41 =2, α=1 / 3, β=1, β 11 = β 21 = β 31 = β 41 =0.01, β 14 = β 24 = β 34 = β 44 = 0.1, β 12 =80,β 32 =50,β 22 = β 42 =100.

[0054] Select the moment distribution matrix The moment effective matrix is

[0055]

[0056]

[0057]

[0058]

[0059...

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Abstract

The invention relates to a spacecraft amplitude limiting adaptive attitude cooperative fault tolerant control method, which belongs to the technical field of multi-spacecraft formation flying. A redundant fault-tolerant algorithm is used to process a spacecraft fault. A control torque saturation controller carries out torque amplitude limiting. An adaptive algorithm control term compensates for inertia variation and external disturbance, and a fast convergence control algorithm is used for fast attitude cooperation. Other algorithms are used. The spacecraft amplitude limiting adaptive attitudecooperative fault tolerant control method is proposed. According to the invention, the consideration of a torque actuator fault, torque amplitude limiting, external disturbance and inertia variationuncertainty is more advanced; a spacecraft cooperative tracking error system can quickly converge; and the robustness and practicability of a control system are further improved.

Description

technical field [0001] The invention belongs to the technical field of multi-spacecraft formation flight, in particular to a space vehicle limiting adaptive attitude cooperative fault-tolerant control method. Background technique [0002] With the diversification of space missions, the traditional working mode of a single spacecraft alone can no longer meet the needs of practical engineering. In this context, the research on multi-spacecraft formation flight has developed rapidly and has become one of the research hotspots in recent years. [0003] The so-called multi-spacecraft formation refers to a working system composed of two or more spacecraft with close distances and interactive cooperation. Adjacent individuals in the formation realize information transmission and cooperative attitude control through sensor measurement devices, so as to achieve space detection and maintenance tasks. The formation of multiple small spacecraft solves the physical performance constrain...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05B13/04
CPCB64G1/244G05B13/042
Inventor 郭毓朱志浩朱锐虞文杰王璐郭健吴益飞陈庆伟
Owner NANJING UNIV OF SCI & TECH
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