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摘要:
基于滑模控制与自适应理论，对使用单框架控制力矩陀螺群（SGCMGs）的刚性航天器的被动姿态容错控制问题进行了研究。首先建立了含有陀螺框架转速故障的系统数学模型。然后将框架转速直接作为控制量并应用滑模控制理论设计了容错控制器，同时控制器中还设计了自适应律对故障信息和干扰进行估计。由此，可在故障和干扰的先验信息未知的情况下，实现对航天器无故障和有故障情况下的姿态稳定控制，且具有较强的鲁棒性。最后，对2种构型单框架控制力矩陀螺群的不同故障模式进行数学仿真，验证了该控制方法的有效性和可行性。
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关键词:
- 航天器 /
- 单框架控制力矩陀螺群 (SGCMGs) /
- 容错控制 /
- 滑模控制 /
- 自适应控制
Abstract:Based on sliding-mode control and adaptive control, the passive fault-tolerant attitude control problem of rigid spacecraft using single gimbal control moment gyros (SGCMGs) was studied. First, the system mathematical model with fault of the speed of gyro framework was established. Then, a fault-tolerant controller, based on sliding-mode control theory, was designed to control the speed of gyro framework while an adaptive control law was employed in the controller to estimate the fault and disturbance message. Thus, it can achieve the attitude stability control with strong robustness in both defective and trouble-free cases, without knowing the prior information of the fault and disturbance. Finally, the simulation results of different fault modes of two configurations of SGCMGs verify the effectiveness and feasibility of this method.
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图 2 Case 1故障模式下姿态角速度响应曲线
Figure 2. Attitude angular velocity response under Case 1 fault mode
图 5 Case 2故障模式下姿态角速度响应曲线
Figure 5. Attitude angular velocity response under Case 2 fault mode
图 8 Case 3故障模式下姿态角速度响应曲线
Figure 8. Attitude angular velocity response under Case 3 fault mode
表 1 PID控制参数
Table 1. Parameters of PID control
参数 滚转通道 俯仰通道 偏航通道 Ki1 Kp1 Kd1 Ki2 Kp2 Kd2 Ki3 Kp3 Kd3 数值 0.1 300 3 000 0.1 500 9 000 0.1 500 9 000 
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