基于T-S模型的航天器姿态模糊控制问题研究
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摘要
姿态控制系统是航天器诸多系统中非常重要的一个子系统。多种类型航天任务的顺利实现很大程度上依赖于姿态控制系统。航天器的自主姿态控制适用于多种无人航天任务，具有广阔的应用前景。当前，对航天器姿态控制系统要求越来越高，尤其表现在航天器高精度控制、高可靠性等。然而，航天器姿态控制性能不仅取决于姿态控制系统硬件配置，姿态控制算法设计的好坏也直接影响到姿态控制性能指标的优劣。本文针对航天器姿态机动过程，从姿态模型建立、控制律设计以及控制参数选取等系列问题进行探索与研究，提出一套切实可行的控制律设计方法，主要完成以下几方面工作。
首先，考虑到一般姿态控制系统研究多集中在稳定性问题上，没有考虑或不能同时满足多个性能指标的要求。然而，随着空间任务的发展，对航天器姿态控制已不仅需要满足单一性能指标，同时应该对空间环境的扰动、输入约束和机动时间等方面进行综合考虑。基于此，综合考虑系统的稳定性、扰动抑制、输入约束和响应速度衰减等，提出一种基于线性矩阵不等式(LMI)的具有多指标约束的模糊控制方法。为了达到较好地逼近航天器姿态系统非线性的目的，构建了航天器姿态控制系统Takagi-Sugeno(T-S)模型。将满足不同单一目标的线性矩阵不等式统一到同一个线性矩阵不等式组，从而使多指标控制器的设计转化为LMI的凸优化问题。论文以三种情况进行对比分析，通过对扰动抑制率、响应衰减率等多指标优化选取，使姿态控制系统具有良好的稳定性和较强的干扰抑制能力。
其次，在实际航天器姿态控制中，系统状态信息可能出现不能完全精确获得的情况，进而造成控制系统性能下降。同时，考虑到高精度的姿态敏感器又比较昂贵。本文考虑到航天器转动惯量的变化，基于航天器姿态T-S模糊模型，提出了一种航天器保性能输出反馈控制方法。将航天器姿态与控制输入二次型成本函数作为模糊闭环系统的性能指标，得到了较小的保性能上界。使得保性能控制器对所有允许的参数不确定性鲁棒，闭环模糊系统鲁棒渐近稳定，既保证了航天器姿态具有良好的过渡过程，又满足航天器执行机构输出力矩的约束条件。
再次，航天器姿态控制系统设计的另一个核心问题是安全性和可靠性。只有建立航天器姿态控制系统容错控制机制，才能够顺利实现航天器姿态的自主控制，并使之在较长时间与复杂工作环境下顺利完成预定的飞行任务。基于此，本文研究了基于T-S模糊模型的航天器姿态控制系统传感器故障和执行结构故障模式下容错控制器的设计问题。首先，提出了一种针对存在扰动情况下传感器故障估计和补偿方法。将传感器故障作为辅助状态向量，建立增广描述系统。通过模糊观测器实现故障估计，利用提出的故障补偿方法，使得航天器在发生姿态传感器故障的情况下，通过补偿可以获得正确的测量信息，系统仍然能够正常运行。其次，提出了一种执行器故障下考虑控制输入约束、极点配置的多指标条件下的满意容错控制器的设计方法。在执行器发生较严重的增益故障情况下，本文给出的控制律仍然较好地实现对航天器姿态的控制，满足多指标的要求。
本文最后研究了基于T-S模型的具有时滞的航天器姿态模糊鲁棒控制。针对控制系统中的数据传输时延，提出一种基于T-S模型的状态反馈控制器的设计方法。在T-S模型的基础上采用并行分配补偿策略，应用Lyapunov泛函，获得了时滞相关稳定性的充分条件，并转换为线性矩阵不等式的形式表示出来。本文获得的最大允许时滞保守性较小。将该方法用于航天器姿态控制系统，仿真表明提出的模糊状态反馈控制器具有良好的闭环稳定，且对时延具有一定的鲁棒性。
The spacecraft attitude control system is one of the most important subsystems ofthe spacecraft system, and is the core part of the spacecraft. The autonomousattitude control of spacecraft has very wide applications. Currently, the highdemand on the spacecraft attitude control system is particularly important in termsof spacecraft precision, long life, and high ability. The spacecraft control algorithmdesign has a direct impact on the attitude control performance. Aim at a variety ofcontrol problems of spacecraft attitude maneuver process, this thesis focuses on theattitude model establishment, control law design and control parameters selection.Accordingly, it put forward a set of feasible control law design method in order toresolve the rigid spacecraft attitude fuzzy control problem. The following works arefinished in this thesis.
Firstly, spacecraft attitude control system not only satisfies a single performance,but also considers the needs of multiple control performance targets. However, thegeneral attitude control system mostly concentrates on the control system stability,and a number of performance targets are not considered simultaneously. For thisphenomenon, this thesis studies the spacecraft attitude control of multi-objectivesynthesis problems based on Linear Matrix Inequalities, for example systemstability, disturbance rejection, input constraint and decay rate. In order to achieve abetter approximation of spacecraft attitude nonlinearity, the T-S fuzzy model isconstructed. The single objective LMI is unified into an LMIs, and themulti-objective controller is designed into LMI convex optimization problem. Bythree cases contrast, the control system has a good transition process anddisturbance rejection capability.
Secondly, for spacecraft attitude control, all state information is not all exactlyobtained by sensor, which makes the control performance descend. Meanwhile, thehigh-precision sensors are also very high expensive. Taking into account themoment of inertia of the spacecraft, an output feedback control method is proposedbased on the spacecraft attitude T-S uncertain fuzzy model. The quadratic costfunction with the spacecraft attitude control inputs and attitudes is as a fuzzyclosed-loop system performance, smaller upper bound is obtained. The closed-loopfuzzy system is robustly asymptotically stable for all parameter uncertainties, whichensures that the spacecraft attitude has a good transition process, but also to meetthe constraints of the spacecraft actuator output torque.
In addition, the significant issue of the spacecraft control system design is safetyand reliability. So the fault-tolerant control mechanism of the spacecraft control system must be established in order to achieve the autonomous control ofspacecraft and to help it complete the scheduled mission successfully in a longerperiod of time and complex space environment. To solve this problem, this thesisstudies the design of the fault-tolerant controller under the conditions of spacecraftcontrol sensor fault and actuator fault based on the T-S fuzzy system. It proposes arobust fault estimation and compensation method for sensor failure in the presenceof disturbance. The augmented described system is constructed through the sensorfault as auxiliary state vector. By the proposed fault compensation method, thecorrect measurement information can be obtained and the system will still be able tooperate normally. And satisfied fault-tolerant controller is obtained under theconditions of an actuator fault satisfying control input constraints, the pole disk.When the actuator is fault seriously, the proposed control law is still better toachieve control of the spacecraft attitude to meet the requirements ofmulti-objective performances. Simulation tests verify that the proposed designmethod is feasiable and effective.
At last, this thesis studies the fuzzy robust control system based on the T-S modelwith time-delay. Aim at delay in the control system, this thesis proposes a designmethod for state feedback controller based on T-S model. By parallel distributedcompensation strategy and applying Lyapunov function, a sufficient condition fordelay-dependent is obtained based on T-S model and converted to be expressed inthe form of LMIs. The maximum allowable time-delay in this thesis is lessconservative. This strategy is applied in spacecraft attitude control system and thefuzzy state feedback controller has good closed loop stability.
首先，考虑到一般姿态控制系统研究多集中在稳定性问题上，没有考虑或不能同时满足多个性能指标的要求。然而，随着空间任务的发展，对航天器姿态控制已不仅需要满足单一性能指标，同时应该对空间环境的扰动、输入约束和机动时间等方面进行综合考虑。基于此，综合考虑系统的稳定性、扰动抑制、输入约束和响应速度衰减等，提出一种基于线性矩阵不等式(LMI)的具有多指标约束的模糊控制方法。为了达到较好地逼近航天器姿态系统非线性的目的，构建了航天器姿态控制系统Takagi-Sugeno(T-S)模型。将满足不同单一目标的线性矩阵不等式统一到同一个线性矩阵不等式组，从而使多指标控制器的设计转化为LMI的凸优化问题。论文以三种情况进行对比分析，通过对扰动抑制率、响应衰减率等多指标优化选取，使姿态控制系统具有良好的稳定性和较强的干扰抑制能力。
其次，在实际航天器姿态控制中，系统状态信息可能出现不能完全精确获得的情况，进而造成控制系统性能下降。同时，考虑到高精度的姿态敏感器又比较昂贵。本文考虑到航天器转动惯量的变化，基于航天器姿态T-S模糊模型，提出了一种航天器保性能输出反馈控制方法。将航天器姿态与控制输入二次型成本函数作为模糊闭环系统的性能指标，得到了较小的保性能上界。使得保性能控制器对所有允许的参数不确定性鲁棒，闭环模糊系统鲁棒渐近稳定，既保证了航天器姿态具有良好的过渡过程，又满足航天器执行机构输出力矩的约束条件。
再次，航天器姿态控制系统设计的另一个核心问题是安全性和可靠性。只有建立航天器姿态控制系统容错控制机制，才能够顺利实现航天器姿态的自主控制，并使之在较长时间与复杂工作环境下顺利完成预定的飞行任务。基于此，本文研究了基于T-S模糊模型的航天器姿态控制系统传感器故障和执行结构故障模式下容错控制器的设计问题。首先，提出了一种针对存在扰动情况下传感器故障估计和补偿方法。将传感器故障作为辅助状态向量，建立增广描述系统。通过模糊观测器实现故障估计，利用提出的故障补偿方法，使得航天器在发生姿态传感器故障的情况下，通过补偿可以获得正确的测量信息，系统仍然能够正常运行。其次，提出了一种执行器故障下考虑控制输入约束、极点配置的多指标条件下的满意容错控制器的设计方法。在执行器发生较严重的增益故障情况下，本文给出的控制律仍然较好地实现对航天器姿态的控制，满足多指标的要求。
本文最后研究了基于T-S模型的具有时滞的航天器姿态模糊鲁棒控制。针对控制系统中的数据传输时延，提出一种基于T-S模型的状态反馈控制器的设计方法。在T-S模型的基础上采用并行分配补偿策略，应用Lyapunov泛函，获得了时滞相关稳定性的充分条件，并转换为线性矩阵不等式的形式表示出来。本文获得的最大允许时滞保守性较小。将该方法用于航天器姿态控制系统，仿真表明提出的模糊状态反馈控制器具有良好的闭环稳定，且对时延具有一定的鲁棒性。
The spacecraft attitude control system is one of the most important subsystems ofthe spacecraft system, and is the core part of the spacecraft. The autonomousattitude control of spacecraft has very wide applications. Currently, the highdemand on the spacecraft attitude control system is particularly important in termsof spacecraft precision, long life, and high ability. The spacecraft control algorithmdesign has a direct impact on the attitude control performance. Aim at a variety ofcontrol problems of spacecraft attitude maneuver process, this thesis focuses on theattitude model establishment, control law design and control parameters selection.Accordingly, it put forward a set of feasible control law design method in order toresolve the rigid spacecraft attitude fuzzy control problem. The following works arefinished in this thesis.
Firstly, spacecraft attitude control system not only satisfies a single performance,but also considers the needs of multiple control performance targets. However, thegeneral attitude control system mostly concentrates on the control system stability,and a number of performance targets are not considered simultaneously. For thisphenomenon, this thesis studies the spacecraft attitude control of multi-objectivesynthesis problems based on Linear Matrix Inequalities, for example systemstability, disturbance rejection, input constraint and decay rate. In order to achieve abetter approximation of spacecraft attitude nonlinearity, the T-S fuzzy model isconstructed. The single objective LMI is unified into an LMIs, and themulti-objective controller is designed into LMI convex optimization problem. Bythree cases contrast, the control system has a good transition process anddisturbance rejection capability.
Secondly, for spacecraft attitude control, all state information is not all exactlyobtained by sensor, which makes the control performance descend. Meanwhile, thehigh-precision sensors are also very high expensive. Taking into account themoment of inertia of the spacecraft, an output feedback control method is proposedbased on the spacecraft attitude T-S uncertain fuzzy model. The quadratic costfunction with the spacecraft attitude control inputs and attitudes is as a fuzzyclosed-loop system performance, smaller upper bound is obtained. The closed-loopfuzzy system is robustly asymptotically stable for all parameter uncertainties, whichensures that the spacecraft attitude has a good transition process, but also to meetthe constraints of the spacecraft actuator output torque.
In addition, the significant issue of the spacecraft control system design is safetyand reliability. So the fault-tolerant control mechanism of the spacecraft control system must be established in order to achieve the autonomous control ofspacecraft and to help it complete the scheduled mission successfully in a longerperiod of time and complex space environment. To solve this problem, this thesisstudies the design of the fault-tolerant controller under the conditions of spacecraftcontrol sensor fault and actuator fault based on the T-S fuzzy system. It proposes arobust fault estimation and compensation method for sensor failure in the presenceof disturbance. The augmented described system is constructed through the sensorfault as auxiliary state vector. By the proposed fault compensation method, thecorrect measurement information can be obtained and the system will still be able tooperate normally. And satisfied fault-tolerant controller is obtained under theconditions of an actuator fault satisfying control input constraints, the pole disk.When the actuator is fault seriously, the proposed control law is still better toachieve control of the spacecraft attitude to meet the requirements ofmulti-objective performances. Simulation tests verify that the proposed designmethod is feasiable and effective.
At last, this thesis studies the fuzzy robust control system based on the T-S modelwith time-delay. Aim at delay in the control system, this thesis proposes a designmethod for state feedback controller based on T-S model. By parallel distributedcompensation strategy and applying Lyapunov function, a sufficient condition fordelay-dependent is obtained based on T-S model and converted to be expressed inthe form of LMIs. The maximum allowable time-delay in this thesis is lessconservative. This strategy is applied in spacecraft attitude control system and thefuzzy state feedback controller has good closed loop stability.
引文
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