分布式近空间飞行器容错控制方法研究
|
摘要
针对一类存在作动器概率性故障的分布式驱动近空间飞行器的控制问题,提出了一种基于改进的蝙蝠算法的容错控制方法。首先,针对飞行器的小扰动线性化模型,设计虚拟控制器,使得系统能够较精确地跟踪给定的参考模型;然后,在考虑作动器概率性故障的情况下,结合整数规划理论,将飞行器执行阵列控制指令的设计问题转化为一类包含整数约束的优化问题,并利用结合了莱维飞行机制的蝙蝠算法进行求解;最后,通过仿真实验验证所提方法的必要性和有效性。仿真结果表明,与未考虑容错策略的控制方法相比,所提出的容错控制方法在作动器出现概率性故障的情况下具有良好的跟踪性能;且莱维飞行机制能够有效改善蝙蝠算法的搜索效率。
According to the control allocation problem of a class of distributed driving near space vehicles with actuator probabilistic faults, a fault tolerant control method based on the improved bat search algorithm is proposed. Firstly, according to the small disturbance linearization model of the flight vehicle, the virtual controller is designed for making the system track the given reference model accurately. Afterwards, considering the actuator probabilistic faults and combining with the theory of integer programming, the executive array control command design is transformed into an optimization problem including integer constraints. Then, the bat algorithm with Lévy flights is utilized to solve the problem. Finally, a simulation experiment is performed for verifying the necessity and effectiveness of the proposed method. Simulation results illustrate that compared with the control method not considering fault tolerant strategy, the proposed fault tolerant control method has better tracking performance under the actuator probabilistic faults. Meanwhile, the Lévy flights can improve the search efficiency of the bat algorithm effectively.
According to the control allocation problem of a class of distributed driving near space vehicles with actuator probabilistic faults, a fault tolerant control method based on the improved bat search algorithm is proposed. Firstly, according to the small disturbance linearization model of the flight vehicle, the virtual controller is designed for making the system track the given reference model accurately. Afterwards, considering the actuator probabilistic faults and combining with the theory of integer programming, the executive array control command design is transformed into an optimization problem including integer constraints. Then, the bat algorithm with Lévy flights is utilized to solve the problem. Finally, a simulation experiment is performed for verifying the necessity and effectiveness of the proposed method. Simulation results illustrate that compared with the control method not considering fault tolerant strategy, the proposed fault tolerant control method has better tracking performance under the actuator probabilistic faults. Meanwhile, the Lévy flights can improve the search efficiency of the bat algorithm effectively.
引文
[1]张强,吴庆宪,姜长生,等.近空间飞行器鲁棒自适应backstepping设计[J].控制工程,2013,20(2):204-208.Zhang Q,Wu Q X,Jiang C S,et al.Robust adaptive backstepping design of near space vehicle[J].Control Engineering of China,2013,20(2):204-208.
[2]张杭悦,陈谋.基于混合优化鱼群算法的近空间飞行器控制分配[J].吉林大学学报(信息科学版),2014,32(4):369-376.Zhang H Y,Chen M.Control allocation based on hybrid optimization fish swarm algorithm for near space vehicles[J].Journal of Jilin University(Information Science Edition),2014,32(4):369-376.
[3]Dong C,Lu Y,Wang Q.Tracking control based on control allocation with an innovative control effector aircraft application[J].Mathematical Problems in Engineering,2016.
[4]姚从潮,王新民,陈晓,等.基于改进多目标遗传算法的再入飞行控制分配研究[J].西北工业大学学报,2014,2014(2):315-322.Yao C C,Wang X M,Chen X,et al.Reentry flight control allocation research based on improved Multi-Objective genetic algorithm[J].Journal of Northwestern Polytechnical University,2014,2014(2):315-322.
[5]陆宇平,何真.变体飞行器控制系统综述[J].航空学报,2009,30(10):1906-1911.Lu Y P,He Z.A Survey of morphing aircraft control systems[J].Journal of Astronautics,2009,30(10):1906-1911.
[6]陈轩,程月华,姜斌,等.基于动态控制分配的卫星姿态控制系统容错控制[J].控制工程,2014,20(S1):8-13.Chen Z,Cheng Y H,Jiang B,et al.Fault-tolerant control for satellite attitude control systems based on dynamic control allocation[J].Control Engineering of China,2014,20(S1):8-13.
[7]Tao G,Chen S,Fei J,et al.An adaptive actuator failure compensation scheme for controlling a morphing aircraft model[C].Proceedings of the 42nd IEEE.Decision and Control,Maui,HI,USA:IEEE,2004.4926-4931.
[8]Ataei-Esfahani A,Wang Q.Robust failure compensation for a morphing aircraft model using a probabilistic approach[J].IEEE Transactions on Control Systems Technology,2007,15(2):324-331.
[9]Yang X S.A new metaheuristic bat-inspired algorithm[C].Nature Inspired Cooperative Strategies for Optimization.Berlin:SpringerVerlag,2010:65-74.
[10]Talafuse T P,Pohl E A.A bat algorithm for the redundancy allocation problem[J].Engineering Optimization,2015,48(5):1-11.
[11]Kavousi-Fard A,Khosravi A.An intelligentθ-Modified Bat Algorithm to solve the non-convex economic dispatch problem considering practical constraints[J].International Journal of Electrical Power&Energy Systems,2016,82(11):189-196.
[12]Vedik B,Chandel A K.Optimal PMU placement for power system observability using Taguchi binary bat algorithm[J].Measurement,2016,95:8-20.
[13]Rahmani M,Ghanbari A,Ettefagh M M.Robust adaptive control of a bio-inspired robot manipulator using bat algorithm[J].Expert Systems with Applications an International Journal,2016,56(9):164-176.
[14]Hassan K K.非线性系统(第三版)[M].朱义胜,董辉,李作洲等,译.北京:电子工业出版社,2011.Hassan K K.Nonlinear systems(Third Edition)[M].Zhu Y S,Dong H,Li Z Y,et al.translation.Beijing:Electronic Industry Press,2011.
[15]Yang X S,Deb S.Cuckoo Search via Lévy Flights[C].World Congress on IEEE.Nature&Biologically Inspired Computing,2009,Coimbatore,India:IEEE Xplore,2010:210-214.
[2]张杭悦,陈谋.基于混合优化鱼群算法的近空间飞行器控制分配[J].吉林大学学报(信息科学版),2014,32(4):369-376.Zhang H Y,Chen M.Control allocation based on hybrid optimization fish swarm algorithm for near space vehicles[J].Journal of Jilin University(Information Science Edition),2014,32(4):369-376.
[3]Dong C,Lu Y,Wang Q.Tracking control based on control allocation with an innovative control effector aircraft application[J].Mathematical Problems in Engineering,2016.
[4]姚从潮,王新民,陈晓,等.基于改进多目标遗传算法的再入飞行控制分配研究[J].西北工业大学学报,2014,2014(2):315-322.Yao C C,Wang X M,Chen X,et al.Reentry flight control allocation research based on improved Multi-Objective genetic algorithm[J].Journal of Northwestern Polytechnical University,2014,2014(2):315-322.
[5]陆宇平,何真.变体飞行器控制系统综述[J].航空学报,2009,30(10):1906-1911.Lu Y P,He Z.A Survey of morphing aircraft control systems[J].Journal of Astronautics,2009,30(10):1906-1911.
[6]陈轩,程月华,姜斌,等.基于动态控制分配的卫星姿态控制系统容错控制[J].控制工程,2014,20(S1):8-13.Chen Z,Cheng Y H,Jiang B,et al.Fault-tolerant control for satellite attitude control systems based on dynamic control allocation[J].Control Engineering of China,2014,20(S1):8-13.
[7]Tao G,Chen S,Fei J,et al.An adaptive actuator failure compensation scheme for controlling a morphing aircraft model[C].Proceedings of the 42nd IEEE.Decision and Control,Maui,HI,USA:IEEE,2004.4926-4931.
[8]Ataei-Esfahani A,Wang Q.Robust failure compensation for a morphing aircraft model using a probabilistic approach[J].IEEE Transactions on Control Systems Technology,2007,15(2):324-331.
[9]Yang X S.A new metaheuristic bat-inspired algorithm[C].Nature Inspired Cooperative Strategies for Optimization.Berlin:SpringerVerlag,2010:65-74.
[10]Talafuse T P,Pohl E A.A bat algorithm for the redundancy allocation problem[J].Engineering Optimization,2015,48(5):1-11.
[11]Kavousi-Fard A,Khosravi A.An intelligentθ-Modified Bat Algorithm to solve the non-convex economic dispatch problem considering practical constraints[J].International Journal of Electrical Power&Energy Systems,2016,82(11):189-196.
[12]Vedik B,Chandel A K.Optimal PMU placement for power system observability using Taguchi binary bat algorithm[J].Measurement,2016,95:8-20.
[13]Rahmani M,Ghanbari A,Ettefagh M M.Robust adaptive control of a bio-inspired robot manipulator using bat algorithm[J].Expert Systems with Applications an International Journal,2016,56(9):164-176.
[14]Hassan K K.非线性系统(第三版)[M].朱义胜,董辉,李作洲等,译.北京:电子工业出版社,2011.Hassan K K.Nonlinear systems(Third Edition)[M].Zhu Y S,Dong H,Li Z Y,et al.translation.Beijing:Electronic Industry Press,2011.
[15]Yang X S,Deb S.Cuckoo Search via Lévy Flights[C].World Congress on IEEE.Nature&Biologically Inspired Computing,2009,Coimbatore,India:IEEE Xplore,2010:210-214.