基于自适应预设性能的运载火箭姿态容错控制
Fault Tolerant Attitude Control of Launch Vehicles Based on Adaptive Prescribed Performance
杨宇豪 1王忠森 2许炜平 1廖宇新1
作者信息
- 1. 中南大学 自动化学院·长沙·410083
- 2. 中南大学 航空航天技术研究院·长沙·410083;湖南大学 电气与信息工程学院·长沙·410083
- 折叠
摘要
针对存在模型不确定性、外部环境干扰及执行机构故障的运载火箭姿态容错控制问题,提出了一种自适应预设性能容错控制方法.首先,基于运载火箭姿态运动模型、执行机构故障模型及姿态跟踪误差模型,建立了运载火箭容错控制数学模型;然后,利用级联扩张状态观测器对总扰动进行观测补偿,并针对故障可能造成姿态跟踪误差突变的问题提出了一种固定时间收敛的自适应预设性能函数,设计了预设性能反步控制律,证明了闭环控制系统的稳定性;最后,通过数值仿真验证了该控制方法能在执行机构故障情况下确保姿态跟踪误差满足预设性能指标.
Abstract
Aiming at the attitude fault-tolerant control problem of launch vehicle with model uncertainty,external environment disturbance and actuator fault,an adaptive prescribed performance fault-tolerant control method is pro-posed. Firstly,based on the attitude motion model,actuator fault model and attitude tracking error model of the launch vehicle,the mathematical model of fault-tolerant control of the launch vehicle is established. Then,a cascade extended state observer is used to observe and compensate for total disturbances,and a fixed time convergent adap-tive preset performance function is proposed to address the problem of sudden changes in attitude tracking errors caused by faults. A prescribed performance backstepping control law is designed,and the stability of the closed-loop control system is proved;Finally,through numerical simulation,it is verified that the control method can ensure that the attitude tracking error meets the prescribed performance index under the condition of actuator failure.
关键词
运载火箭/容错控制/执行机构故障/预设性能控制/级联扩张状态观测器Key words
launch vehicles/fault tolerant control/actuator fault/prescribed performance control/cascade extended state observer引用本文复制引用
基金项目
湖南省自然科学基金青年基金项目(2022JJ40633)
出版年
2024
国家科技期刊平台
NSTL
万方数据