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针对临近空间飞行器中结构未知的执行器故障,提出一种基于滑模观测器的容错控制方法。采用Edwards-Spurgeon观测器结构设计滑模观测器,实现对执行器故障的鲁棒估计。根据所得的故障信息设计模型参考滑模容错控制器,控制律的非线性增益分为两部分,保证系统的鲁棒容错性能。一部分利用参数不确定的界值条件设计,一部分基于鲁棒故障估计信息设计。基于李雅普诺夫稳定性理论证明了系统的渐近稳定性。仿真结果表明,该方法能有效实现对执行器故障的鲁棒估计,并保证故障条件下飞行器对参考模型的稳定跟踪性能,达到了期望的容错效果。
Aiming at the fault of unknown actuator in the adjacent spacecraft, a fault-tolerant control method based on sliding mode observer is proposed. The sliding mode observer is designed by using Edwards-Spurgeon observer structure to realize the robust estimation of actuator failure. According to the obtained fault information, a sliding mode fault tolerant controller is designed. The nonlinear gain of the control law is divided into two parts to ensure the robust performance of the system. Part of the design is based on the boundary condition with uncertain parameters and partly based on robust fault estimation. The asymptotic stability of the system is proved based on the Lyapunov stability theory. The simulation results show that this method can effectively implement the robust estimation of actuator failures and ensure the stable tracking performance of the aircraft to the reference model under fault conditions, achieving the desired fault tolerance.