规避卫星姿控系统故障诊断与容错控制技术研究
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摘要
随着空间飞行器和垃圾废物的不断增多，卫星遭受撞击的概率越来越大，规避卫星问题已成为当前航天领域的研究热点之一。卫星在轨运行环境恶劣，遭遇高低温交变和强辐射易引发执行机构故障，规避卫星的故障检测和容错控制技术研究具有重要意义。
针对规避卫星姿态控制系统非线性，强耦合的特点，提出了基于自组织神经网络的执行机构故障诊断方法。自组织模糊神经网络（SOFNN）可以根据系统状态在线更新权值和调整节点，优化网络结构，为解决故障诊断问题提供了一种新思路。本文针对卫星姿态控制系统中的主要故障源执行机构，开展了基于两个自组织模糊神经网络故障诊断方法研究，即采用网络SOFNN1用于健康系统的离线训练，以估计出系统的不确定项和扰动项，以网络输出结果为故障检测的阈值参考，在网络SOFNN1的基础上利用网络SOFNN2估计执行器故障。仿真结果表明，自组织神经网络可正确检测并能估计出执行机构故障，为开展系统容错控制研究奠定了基础。
针对卫星姿态控制系统运行中遇到的大干扰和不确定情况，兼顾系统本身的非线性行为，又由于滑模观测器是解决非线性系统及干扰系统的故障诊断的有效途径，故此提出了基于滑模观测器的执行机构故障诊断方法。利用T-S模糊方法建立卫星姿态控制系统的T-S模糊模型，在此基础上设计了滑模观测器。当故障发生时，依然维持滑模运动，利用与变结构控制里等效控制概念类似的“等效输出注入”实现对故障项的估计。仿真试验表明，本文设计的滑模观测器在系统存在干扰和不确定的情况下，能够准确检测故障。该方法设计简单，工程实现性强。
另外，本文研究了基于非线性未知输入观测器（RO-NUIO）的故障诊断方法，以解决由于卫星规避过程中模型不确定及大干扰力矩等引起的故障误判问题。其中，针对NUIO方法苛刻的设计条件，采用了坐标变换，将系统进行降阶设计，再采用线性矩阵不等式的方法求解参数，从而改进设计，弱化了条件要求，提出了非线性未知输入观测器故障诊断方法。仿真试验结果表明，本文所提出的RO-NUIO故障检测和隔离方法法不仅可以实现规避卫星执行机构的故障检测，同时也可实现故障隔离，且设计方便。
在规避卫星实施轨道控制期间，轨道机动推力会影响卫星的姿态和挠性模态，本文针对挠性规避卫星执行机构存在的推力干扰故障问题，研究了基于反步自适应变结构方法的容错控制技术。设计了基于反步自适应变结构的被动容错控制器可达到姿态稳定目的，采用分布式智能部件作为执行器和设计补偿项以更好的抑制挠性结构的振动和常值变形。试验结果表明，本文提出的反步自适应变结构容错控制律在没有故障诊断信息基础上，也可以保证姿态稳定，且应变反应速率反馈补偿器能很好的抑制挠性结构的变形和振动。
在实际应用中，由于规避卫星的执行机构在物理结构和输出能量的限制，使得执行机构不可能提供无限大的力矩，即存在受限问题。本文针对执行机构的物理限问题，设计了基于输入受限的变结构容错控制器。试验结果表明，本文设计的容错控制器不仅满足输入受限条件，同时保证了系统执行机构故障情况下控制器的有效性。
在考虑输入受限方法和容错控制器设计的基础上，针对规避卫星执行机构具备配置冗余条件，研究了基于控制分配思想的执行机构在线重构技术。在控制机构部分失效情况下，该容错控制器无须改变控制算法，仅需调整相应的控制分配方案就能够实现控制输出的在线调整，提高了系统鲁棒性；在线重构技术能够直接处理执行机构的故障失效问题，降低了控制算法设计难度。仿真试验结果表明，执行机构故障情况下，控制分配算法能将伪控制指令进行在轨重分配，优化星载资源配置，并具备容错能力，是一种提高姿态控制系统运行可靠性的有效方法。
在算法研究的基础上，为了将理论方法与工程实践相结合，研制了卫星故障检测与容错技术的半物理仿真平台，并开展了卫星姿态控制系统的故障检测与容错控制技术的半物理仿真试验，验证了所提出方法的有效性和合理性。针对规避卫星，建立了全数字规避卫星姿态控制系统容错控制技术仿真试验系统，开展了规避卫星的仿真演示、故障诊断和容错控制技术的试验及算法验证研究工作。
With the increasing number of space rubbish, satellites are being collided more easily.Now the research of satellites with collision avoidance is becoming the focus in space area.Since the environment for on-orbit satellites is severe, the actuators of satellites are inevitableto be faulty because of the changing temperature and high radiation. Fault detection andtolerant control for satellites during collision avoidance are greatly concerned.
According to the nonlinearities and strongly coupling for satellite attitude control systems duringcollision avoidance, a fault diagnosis approach based on Self-organizing fuzzy neural network(SOFNN) is proposed. The network can update its weights on line and adjust the nodes to optimizethe network, thus providing a new method for fault diagnosis. In this dissertation, two Self-organizingfuzzy neural networks are investigated for actuator fault diagnosis. One SOFNN is designed forhealthy system training off line, which can estimate the uncertainties and nonlinearities, with theoutput as the threshold reference for fault detection. The other is to estimate the actuator fault.Simulation is carried out to show the correctness of the method for fault detection and estimation.
Since the diagnosis approach of sliding observer is effective for systems withnonlinearities and disturbances, a fault diagnosis method based on sliding observer foractuators is studied in the presence of large disturbances, model uncertainties and nonlinearitiesfor satellite attitude control systems during collision avoidance. The observer is designed basedon the T-S fuzzy model for satellite attitude control systems. Then if the system encounters withfault, the concept of equivalent output inject, similar to sliding control, is used to estimate fault.Simulation demonstrates that the method can realize fault detection even if the system isequipped with uncertainties and nonlinearities. Besides, the method is simple and can berealized for engineering application.
In order to avoid the false alarm caused by the model uncertainties and large disturbances,a fault diagnosis approach based on reduced nonlinear unknown input observer (RO-NUIO) isproposed. The method can relax the condition compared with nonlinear unknown observer,which can not only realizing fault detection but also realizing fault isolation. Simulation resultsprove the effectiveness of the proposed method and show that the method is suitable for thesystem considered in the paper.
Considering the thrust may affect the attitude and flexible mode during orbit maneuvering, a backstepping adaptive variable structure method is developed for fault tolerant control. Forthe vibration suppression, the strain-rate feedback control is employed by using piezoelectricmaterials as additional sensors and actuators. Simulation results show the validation of the faulttolerant control methods and the effectiveness of the vibration suppression control which cansuppress the vibration of the flexible modes.
Due to the physical constraint of the actuators, fault tolerant control method based on inputsaturation is presented. Since in practical application, the output of the actuators is impossibleto provide infinite torque because of the physical design and output energy constraint. Avariable fault tolerant control is designed with actuator fault and input saturation considered isgiven. The simulation result illustrates that the proposed fault tolerant controller satisfies theinput saturation condition and guarantees the effectiveness of the system to be work in faultycondition.
If the system is equipped with redundant actuators, an on-line control allocation method isinvestigated for fault tolerant control. The fault tolerant controller can be carried out withoutreconfiguring the baseline controller, thus reducing the complexity of the designing. Simulationresults shows that control allocation method can allocate the virtual control command on line andoptimize the configuration of the resources, realizing fault tolerant control to improve the reliability ofthe attitude control system.
At last, a semi-physical simulation system for fault detection and tolerant control is developedbased on the existing satellite attitude control simulation equipments. Fault detection and tolerantcontrol is studied combined with theory method and engineering practice to illustrate the effectivenessand reasonableness of the methods. Besides, numerical software for satellite attitude control systemsduring collision avoidance maneuver is designed to demonstrate the mechanisms of collisionavoidance, fault detection and tolerant control.
针对规避卫星姿态控制系统非线性，强耦合的特点，提出了基于自组织神经网络的执行机构故障诊断方法。自组织模糊神经网络（SOFNN）可以根据系统状态在线更新权值和调整节点，优化网络结构，为解决故障诊断问题提供了一种新思路。本文针对卫星姿态控制系统中的主要故障源执行机构，开展了基于两个自组织模糊神经网络故障诊断方法研究，即采用网络SOFNN1用于健康系统的离线训练，以估计出系统的不确定项和扰动项，以网络输出结果为故障检测的阈值参考，在网络SOFNN1的基础上利用网络SOFNN2估计执行器故障。仿真结果表明，自组织神经网络可正确检测并能估计出执行机构故障，为开展系统容错控制研究奠定了基础。
针对卫星姿态控制系统运行中遇到的大干扰和不确定情况，兼顾系统本身的非线性行为，又由于滑模观测器是解决非线性系统及干扰系统的故障诊断的有效途径，故此提出了基于滑模观测器的执行机构故障诊断方法。利用T-S模糊方法建立卫星姿态控制系统的T-S模糊模型，在此基础上设计了滑模观测器。当故障发生时，依然维持滑模运动，利用与变结构控制里等效控制概念类似的“等效输出注入”实现对故障项的估计。仿真试验表明，本文设计的滑模观测器在系统存在干扰和不确定的情况下，能够准确检测故障。该方法设计简单，工程实现性强。
另外，本文研究了基于非线性未知输入观测器（RO-NUIO）的故障诊断方法，以解决由于卫星规避过程中模型不确定及大干扰力矩等引起的故障误判问题。其中，针对NUIO方法苛刻的设计条件，采用了坐标变换，将系统进行降阶设计，再采用线性矩阵不等式的方法求解参数，从而改进设计，弱化了条件要求，提出了非线性未知输入观测器故障诊断方法。仿真试验结果表明，本文所提出的RO-NUIO故障检测和隔离方法法不仅可以实现规避卫星执行机构的故障检测，同时也可实现故障隔离，且设计方便。
在规避卫星实施轨道控制期间，轨道机动推力会影响卫星的姿态和挠性模态，本文针对挠性规避卫星执行机构存在的推力干扰故障问题，研究了基于反步自适应变结构方法的容错控制技术。设计了基于反步自适应变结构的被动容错控制器可达到姿态稳定目的，采用分布式智能部件作为执行器和设计补偿项以更好的抑制挠性结构的振动和常值变形。试验结果表明，本文提出的反步自适应变结构容错控制律在没有故障诊断信息基础上，也可以保证姿态稳定，且应变反应速率反馈补偿器能很好的抑制挠性结构的变形和振动。
在实际应用中，由于规避卫星的执行机构在物理结构和输出能量的限制，使得执行机构不可能提供无限大的力矩，即存在受限问题。本文针对执行机构的物理限问题，设计了基于输入受限的变结构容错控制器。试验结果表明，本文设计的容错控制器不仅满足输入受限条件，同时保证了系统执行机构故障情况下控制器的有效性。
在考虑输入受限方法和容错控制器设计的基础上，针对规避卫星执行机构具备配置冗余条件，研究了基于控制分配思想的执行机构在线重构技术。在控制机构部分失效情况下，该容错控制器无须改变控制算法，仅需调整相应的控制分配方案就能够实现控制输出的在线调整，提高了系统鲁棒性；在线重构技术能够直接处理执行机构的故障失效问题，降低了控制算法设计难度。仿真试验结果表明，执行机构故障情况下，控制分配算法能将伪控制指令进行在轨重分配，优化星载资源配置，并具备容错能力，是一种提高姿态控制系统运行可靠性的有效方法。
在算法研究的基础上，为了将理论方法与工程实践相结合，研制了卫星故障检测与容错技术的半物理仿真平台，并开展了卫星姿态控制系统的故障检测与容错控制技术的半物理仿真试验，验证了所提出方法的有效性和合理性。针对规避卫星，建立了全数字规避卫星姿态控制系统容错控制技术仿真试验系统，开展了规避卫星的仿真演示、故障诊断和容错控制技术的试验及算法验证研究工作。
With the increasing number of space rubbish, satellites are being collided more easily.Now the research of satellites with collision avoidance is becoming the focus in space area.Since the environment for on-orbit satellites is severe, the actuators of satellites are inevitableto be faulty because of the changing temperature and high radiation. Fault detection andtolerant control for satellites during collision avoidance are greatly concerned.
According to the nonlinearities and strongly coupling for satellite attitude control systems duringcollision avoidance, a fault diagnosis approach based on Self-organizing fuzzy neural network(SOFNN) is proposed. The network can update its weights on line and adjust the nodes to optimizethe network, thus providing a new method for fault diagnosis. In this dissertation, two Self-organizingfuzzy neural networks are investigated for actuator fault diagnosis. One SOFNN is designed forhealthy system training off line, which can estimate the uncertainties and nonlinearities, with theoutput as the threshold reference for fault detection. The other is to estimate the actuator fault.Simulation is carried out to show the correctness of the method for fault detection and estimation.
Since the diagnosis approach of sliding observer is effective for systems withnonlinearities and disturbances, a fault diagnosis method based on sliding observer foractuators is studied in the presence of large disturbances, model uncertainties and nonlinearitiesfor satellite attitude control systems during collision avoidance. The observer is designed basedon the T-S fuzzy model for satellite attitude control systems. Then if the system encounters withfault, the concept of equivalent output inject, similar to sliding control, is used to estimate fault.Simulation demonstrates that the method can realize fault detection even if the system isequipped with uncertainties and nonlinearities. Besides, the method is simple and can berealized for engineering application.
In order to avoid the false alarm caused by the model uncertainties and large disturbances,a fault diagnosis approach based on reduced nonlinear unknown input observer (RO-NUIO) isproposed. The method can relax the condition compared with nonlinear unknown observer,which can not only realizing fault detection but also realizing fault isolation. Simulation resultsprove the effectiveness of the proposed method and show that the method is suitable for thesystem considered in the paper.
Considering the thrust may affect the attitude and flexible mode during orbit maneuvering, a backstepping adaptive variable structure method is developed for fault tolerant control. Forthe vibration suppression, the strain-rate feedback control is employed by using piezoelectricmaterials as additional sensors and actuators. Simulation results show the validation of the faulttolerant control methods and the effectiveness of the vibration suppression control which cansuppress the vibration of the flexible modes.
Due to the physical constraint of the actuators, fault tolerant control method based on inputsaturation is presented. Since in practical application, the output of the actuators is impossibleto provide infinite torque because of the physical design and output energy constraint. Avariable fault tolerant control is designed with actuator fault and input saturation considered isgiven. The simulation result illustrates that the proposed fault tolerant controller satisfies theinput saturation condition and guarantees the effectiveness of the system to be work in faultycondition.
If the system is equipped with redundant actuators, an on-line control allocation method isinvestigated for fault tolerant control. The fault tolerant controller can be carried out withoutreconfiguring the baseline controller, thus reducing the complexity of the designing. Simulationresults shows that control allocation method can allocate the virtual control command on line andoptimize the configuration of the resources, realizing fault tolerant control to improve the reliability ofthe attitude control system.
At last, a semi-physical simulation system for fault detection and tolerant control is developedbased on the existing satellite attitude control simulation equipments. Fault detection and tolerantcontrol is studied combined with theory method and engineering practice to illustrate the effectivenessand reasonableness of the methods. Besides, numerical software for satellite attitude control systemsduring collision avoidance maneuver is designed to demonstrate the mechanisms of collisionavoidance, fault detection and tolerant control.
引文
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