Fault-tolerant control for near space vehicle with new type dissimilar redundant actuation/flight control system
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摘要:
针对采用新型非相似余度作动系统(NT-DRAS)的临近空间飞行器(NSV)安全控制问题，提出一种基于伴生大模型的多层级容错控制(FTC)方法，该伴生大模型的物理含义为实际飞行器的虚拟系统，其与实际系统伴生存在，用于实时同步模拟和监控实际系统的功能/性能状态。该伴生大模型包含飞控级伴生主模型及作动级的伴生子模型，形成层级架构用于NSV实际系统的智能决策支持需求：当飞行器姿态相关传感器发生故障时，利用由飞控级伴生主模型的理论输出状态与真实系统可用状态共同构成混合输出状态，并基于混合输出状态通过线性二次型调节器(LQR)求解出状态反馈增益。同时，在作动级对配置的NT-DRAS进行基于伴生子模型的状态监控和余度管理，最终将基于伴生子模型推理识别的 NT-DRAS通道切换与飞控层基于伴生主模型的LQR 控制相结合，应对复杂及逐步恶化的作动器和飞控姿态传感器多故障变工况。基于MATLAB/Simulink平台的数值仿真结果验证了所提方法的有效性和先进性。
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关键词:
- 临近空间飞行器 /
- 飞行控制系统 /
- 新型非相似余度作动系统 /
- 伴生大模型 /
- 逐层容错控制
Abstract:The paper presents a concomitant model based multi-level fault-tolerant control (FTC) for near space vehicle (NSV) with a new type of dissimilar redundant actuation system (NT-DRAS). The model, with its physical meaning as a virtual system of the actual vehicle, coexists with the real system to perform real-time synchronous simulation and monitoring of the real system's functions and performance status. In order to meet the intelligent decision-making support requirements of the NSV actual system, the concomitant big model consists of a flight control-level main model and actuation-level sub-models that form a hierarchical architecture. In the event that the vehicle's flight attitude-related sensors fail, a hybrid output state can be reconstructed by combining the theoretical output of the flight control-level concomitant main model with the real system usable state. This hybrid output state is then used to solve the state feedback gains using linear quadratic regulator (LQR) technology. Additionally, this study conducts state monitoring and redundancy management for the configured NT-DRAS system at the actuation level, ultimately combining concomitant sub-model based NT-DRAS channel switching measures by flight control-level concomitant main model based LQR control to address complex and progressively deteriorating fault conditions involving actuators and flight control attitude sensors. Finally, numerical simulations are performed on the MATLAB/Simulink platform to verify the effectiveness and progressiveness of the proposed method.
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图 3 作动级基于伴生子模型的NT-DRAS故障智能推理机制
Figure 3. Concomitant sub-model based intelligent fault reasoning mechanism of NT-DRAS in actuation level
图 5 基于伴生大模型的NSV容错控制算法流程
Figure 5. Flowchart of concomitant model based NSV FTC algorithm
图 6 NT-DRAS级别的通道切换容错效果分析
Figure 6. Analysis of channel switching based fault tolerant effect at NT-DRAS level
图 7 飞控级别综合控制增益调整容错效果分析
Figure 7. Analysis of comprehensive control gain adjustment based fault tolerant effect at flight control level
图 8 飞控伴生主模型收敛性及S-1方法与S-3方法容错效果分析
Figure 8. Analysis of flight control concomitant main model convergence and FTC effectiveness of S-1 and S-3 method
图 9 固定滚转角下故障变工况响应情况仿真曲线
Figure 9. Response curves under fault changing conditions when given constant roll angle
图 10 固定滚转角下故障变工况响应情况仿真曲线
Figure 10. Response curves under fault changing conditions when given constant roll angle
表 1 NSV变工况条件下的健康状态矩阵
Table 1. Health index matrices of NSV under changing cases
工况 作动系统$ \boldsymbol{H}_{\text{Case-}i}^{\text{NT-DRAS}} $ 姿态传感器$ \boldsymbol{H}_{\text{Case-}i}^{\text{semsor}} $ 1 $ {\mathrm{diag}}\left\{\begin{matrix}1 & 1 & 1 & 1 & 1\end{matrix}\right\} $ $ {\mathrm{diag}}\left\{\begin{matrix}1 & 1 & 1 & 1\end{matrix}\right\} $ 2 $ {\mathrm{diag}}\left\{\begin{matrix}0 & 1 & 0.6 & 1 & 0\end{matrix}\right\} $ $ {\mathrm{diag}}\left\{\begin{matrix}1 & 0 & 1 & 1\end{matrix}\right\} $ 3 $ {\mathrm{diag}}\left\{\begin{matrix}0 & 0.52 & 0.6 & 0.43 & 0\end{matrix}\right\} $ $ {\mathrm{diag}}\left\{\begin{matrix}1 & 0 & 0 & 1\end{matrix}\right\} $ 4 $ {\mathrm{diag}}\left\{\begin{matrix}0 & 0.11 & 0.23 & 0.17 & 0\end{matrix}\right\} $ $ {\mathrm{diag}}\left\{\begin{matrix}1 & 0 & 0 & 0\end{matrix}\right\} $ 
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表 2 特定滚转角条件下容错控制性能量化评估结果
Table 2. FTC performance quantitative evaluation results under specific roll angle conditions
方法 $ {e}_{\text{perf-}\phi } $ $ {\overline{e}}_{\text{perf-}\phi } $ $ e_{\text{perf-}\phi }^{\text{max}} $ $ {e}_{\text{perf-}\beta } $ $ {\overline{e}}_{\text{perf-}\beta } $ $ e_{\text{perf-}\beta }^{\text{max}} $ S-2 60.462 0.009 12 0.478 0.00011 0.113 S-3 60.460 0.009 12 0.240 0.00006 0.045
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表 3 滚转动作过程中容错控制性能量化评估结果
Table 3. FTC performance quantitative evaluation results under rolling dynamic process
方法 $ {e}_{\text{perf-}\phi } $ $ {\overline{e}}_{\text{perf-}\phi } $ $ e_{\text{perf-}\phi }^{\text{max}} $ $ {e}_{\text{perf-}\beta } $ $ {\overline{e}}_{\text{perf-}\beta } $ $ e_{\text{perf-}\beta }^{\text{max}} $ S-2 121.327 0.021 24 2.582 0.00047 0.62 S-3 113.010 0.018 24 0.466 0.00011 0.07
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