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针对航天器姿控系统长期运行期间因执行部件老化或故障引起性能下降的情形,设计了一种基于滑模迭代学习率姿态自主容错抗扰控制方案。采用虚拟控制输入设计了滑模控制器,以确保故障发生后系统能精确跟踪参考运动轨迹;通过李亚普诺夫稳定性分析,设计了新的自适应迭代学习率,根据系统跟踪误差,在线确定控制器参数以应对执行器故障和外部干扰的影响。数值仿真实验表明,该方法可以有效进行故障检测和干扰补偿。
Aiming at the performance degradation of the spacecraft attitude control system caused by aging or failure of the actuator during the long-term operation, a self-tolerant fault tolerant control scheme based on sliding mode iterative learning rate is designed. The sliding mode controller is designed by using the virtual control input to ensure that the system can accurately track the reference trajectory after the fault occurs. By Lyapunov stability analysis, a new adaptive iterative learning rate is designed. According to the tracking error of the system, Parameters of the actuator to deal with the effects of actuator failure and external disturbances. Numerical simulation shows that this method can effectively detect faults and compensate the interference.