卫星姿态控制系统执行器微小故障检测方法

李磊; 高永明; 吴止锾; 张学波

doi:10.13700/j.bh.1001-5965.2018.0372

卫星姿态控制系统执行器微小故障检测方法

doi: 10.13700/j.bh.1001-5965.2018.0372

航天工程大学航天信息学院, 北京 101416

详细信息

作者简介:
李磊, 男, 博士研究生。主要研究方向:故障诊断、数据挖掘、机器学习

高永明, 男, 博士, 副教授。主要研究方向:计算机仿真、复杂系统建模

吴止锾, 男, 博士研究生。主要研究方向:图像处理、数据挖掘、机器学习

张学波, 男, 博士, 讲师; 主要研究方向:并行算法、数据挖掘、机器学习

通讯作者:
高永明, E-mail:yongminggao_08@163.com

中图分类号: V474;TB553
计量
- 文章访问数: 673
- HTML全文浏览量: 79
- PDF下载量: 340
- 被引次数: 0
出版历程
- 收稿日期: 2018-06-19
- 录用日期: 2018-10-17
- 网络出版日期: 2019-03-20

Small fault detection method for actuator of satellite attitude control system

School of Space Information, Space Engineering University, Beijing 101416, China

More Information

Corresponding author: GAO Yongming, E-mail:yongminggao_08@163.com

摘要

摘要:
针对卫星姿态控制系统执行器微小故障检测问题，提出一种基于神经网络干扰观测器的微小故障检测方法。该方法利用卫星姿态控制系统内的冗余关系，分别构建陀螺干扰观测器和干扰力矩观测器，对系统内的测量误差、扰动等进行估计，并对故障检测观测器进行扰动补偿，提高对执行器微小故障的检测能力。仿真结果表明，与基于解析模型的方法相比，该方法能够较精确地对解析模型的误差进行补偿，明显降低了检测阈值，实现了对扰动掩盖下的微小执行器故障检测。
- 神经网络 /
- 干扰观测器 /
- 卫星姿态控制系统 /
- 故障检测 /
- 冗余关系
Abstract:
Aimed at the problem of small fault detection for actuator of satellite attitude control system, a small fault detection method based on neural network disturbance observer is proposed. By using the redundant relationship in the satellite attitude control system, a gyro disturbance observer and disturbance torque observer are constructed to estimate the measurement error and disturbance torque in the system, and the fault detection observer is compensated for disturbances to improve actuator's small fault detection capability. The simulation results show that, compared with the analytical model based method, this method can compensate the error of the analytical model more accurately, reduce the detection threshold significantly, and realize the small fault detection for actuator under disturbance concealment.
- neural network /
- disturbance observer /
- satellite attitude control system /
- fault detection /
- redundant relationship

HTML全文

图 1 卫星姿态控制系统

Figure 1. Satellite attitude control system

下载: 全尺寸图片幻灯片

图 2 故障检测观测器框图

Figure 2. Block diagram of fault detection observer

下载: 全尺寸图片幻灯片

图 3 x轴干扰力矩估计

Figure 3. Estimated disturbance torque in x axes

下载: 全尺寸图片幻灯片

图 4 y轴干扰力矩估计

Figure 4. Estimated disturbance torque in y axes

下载: 全尺寸图片幻灯片

图 5 z轴干扰力矩估计

Figure 5. Estimated disturbance torque in z axes

下载: 全尺寸图片幻灯片

图 6 x轴陀螺噪声估计

Figure 6. Estimated noise of gyro in x axes

下载: 全尺寸图片幻灯片

图 7 y轴陀螺噪声估计

Figure 7. Estimated noise of gyro in y axes

下载: 全尺寸图片幻灯片

图 8 z轴陀螺噪声估计

Figure 8. Estimated noise of gyro in z axes

下载: 全尺寸图片幻灯片

图 9 故障案例1检测残差

Figure 9. Detection residual of fault case 1

下载: 全尺寸图片幻灯片

图 10 故障案例2检测残差

Figure 10. Detection residual of fault case 2

下载: 全尺寸图片幻灯片

图 11 故障案例3检测残差

Figure 11. Detection residual of fault case 3

下载: 全尺寸图片幻灯片

参考文献(18)

[1]	肇刚, 李泽, 李言俊.基于TSEOPM的在轨航天器故障预报方法研究[J].计算机测量与控制, 2009, 17(12):2352-2354. http://d.old.wanfangdata.com.cn/Periodical/jsjzdclykz200912003 ZHAO G, LI Z, LI Y J.Research on method of fault prediction for onboard spacecrafts based on times series event omen pattern mining[J].Computer Measurement & Control, 2009, 17(12):2352-2354(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/jsjzdclykz200912003
[2]	苏林, 尚朝轩, 刘文静.航天器姿态控制系统故障诊断方法概述[J].长春理工大学学报(自然科学版), 2010, 33(4):23-27. doi: 10.3969/j.issn.1672-9870.2010.04.006 SU L, SHANG C X, LIU W J.Survey on the technology of fault diagnosis for spacecraft attitude control system[J].Journal of Changchun University of Science and Technology(Natural Science Edition), 2010, 33(4):23-27(in Chinese). doi: 10.3969/j.issn.1672-9870.2010.04.006
[3]	CHENG Y, WANG R X, XU M Q.Simultaneous state and actuator fault estimation for satellite attitude control systems[J].Chinese Journal of Aeronautics, 2016, 29(3):714-721. doi: 10.1016/j.cja.2016.04.010
[4]	GAO C, DUAN G R.Robust adaptive fault estimation for a class of nonlinear systems subject to multiplicative faults[J].Circuits, Systems, and Signal Processing, 2012, 31(6):2035-2046. doi: 10.1007/s00034-012-9434-x
[5]	MONDAL S, CHAKRABORTY G, BHATTACHARYY K.LMI approach to robust unknown input observer design for continuous systems with noise and uncertainties[J].International Journal of Control, Automation and Systems, 2010, 8(2):210-219. doi: 10.1007/s12555-010-0205-9
[6]	张科, 韩治国, 郭小红, 等.航天器姿控系统的PD型学习观测器故障重构[J].航空学报, 2017, 38(6):320629. http://d.old.wanfangdata.com.cn/Periodical/hkxb201706019 ZHANG K, HAN Z G, GUO X H, et al.PD-type learning observer based fault reconstruction for spacecraft attitude control systems[J].Acta Aeronautica et Astronautica Sinica, 2017, 38(6):320629(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/hkxb201706019
[7]	贾庆贤, 张迎春, 陈雪芹, 等.卫星姿态控制系统故障重构观测器设计[J].宇航学报, 2016, 37(4):442-450. doi: 10.3873/j.issn.1000-1328.2016.04.010 JIA Q X, ZHANG Y C, CHEN X Q, et al.Observer design for fault reconstruction in satellite attitude control system[J].Journal of Astronautics, 2016, 37(4):442-450(in Chinese). doi: 10.3873/j.issn.1000-1328.2016.04.010
[8]	贾庆贤, 张迎春, 沈毅, 等.基于迭代学习-未知输入观测器的卫星姿控系统鲁棒故障重构[J].系统工程与电子技术, 2012, 34(1):120-124. doi: 10.3969/j.issn.1001-506X.2012.01.23 JIA Q X, ZHANG Y C, SHEN Y, et al.Robust fault reconstruction method for satellite attitude control system based on iterative learning-unknown input observer[J].System Engineering and Electronics, 2012, 34(1):120-124(in Chinese). doi: 10.3969/j.issn.1001-506X.2012.01.23
[9]	岑朝辉, 魏蛟龙, 蒋睿, 等.基于综合观测器的执行器过程故障量精确诊断[J].宇航学报, 2011, 32(6):1318-1326. doi: 10.3873/j.issn.1000-1328.2011.06.018 CEN C H, WEI J L, JIANG R, et al.Accurate diagnosis on process fault parameters of nonlinear actuator based on adaptive observer and extended state observer[J].Journal of Astronautics, 2011, 32(6):1318-1326(in Chinese). doi: 10.3873/j.issn.1000-1328.2011.06.018
[10]	胡正高, 赵国荣, 李飞, 等.基于自适应未知输入观测器的非线性动态系统故障诊断[J].控制与决策, 2016, 31(5):901-906. http://d.old.wanfangdata.com.cn/Periodical/kzyjc201605020 HU Z G, ZHAO G R, LI F, et al.Fault diagnosis for nonlinear dynamical system based on adaptive unknown input observer[J].Control and Decision, 2016, 31(5):901-906(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/kzyjc201605020
[11]	马立玲, 杨英华, 王福利.一类基于神经网络非线性观测器的鲁棒故障检测和诊断[J].控制与决策, 2003, 18(3):309-316. doi: 10.3321/j.issn:1001-0920.2003.03.012 MA L L, YANG Y H, WANG F L.Robust fault detection and diagnosis based on neural network nonlinear observer[J].Control and Decision, 2003, 18(3):309-316(in Chinese). doi: 10.3321/j.issn:1001-0920.2003.03.012
[12]	姜寅令, 李艳辉, 王海星.改进的神经网络观测器在非线性系统中的应用[J].吉林大学学报(信息科学版), 2015, 33(4):471-475. doi: 10.3969/j.issn.1671-5896.2015.04.019 JIANG Y L, LI Y H, WANG H X.Improved neural network state observer designed for nonlinear system[J].Journal of Jilin University(Information Science Edition), 2015, 33(4):471-475(in Chinese). doi: 10.3969/j.issn.1671-5896.2015.04.019
[13]	TALEBI H A, KHORASANI K.A neural network-based multiplicative actuator fault detection and isolation of nonlinear systems[J].IEEE Transactions on Control Systems Technology, 2013, 21(3):842-851. doi: 10.1109/TCST.2012.2186634
[14]	SHEN Q K, JIANG B, SHI P.Novel neural networks-based fault tolerant control scheme with fault alarm[J].IEEE Transactions on Cybernetics, 2014, 44(11):2190-2201. doi: 10.1109/TCYB.2014.2303131
[15]	LI Q G, FENG Y Z, TONG S C, et al.Fault detection and fault tolerant control of nonlinear systems using neural networks[J].Information and Control, 1998, 27(6):440-445. http://cn.bing.com/academic/profile?id=8583af0c2678330c5522dbc4181125c4&encoded=0&v=paper_preview&mkt=zh-cn
[16]	王肖, 郭杰, 唐胜景, 等.吸气式高超声速飞行器鲁棒非奇异Terminal滑模反步控制[J].航空学报, 2017, 38(3):320287. http://d.old.wanfangdata.com.cn/Periodical/hkxb201703018 WANG X, GUO J, TANG S J, et al.Robust nonsingular Terminal sliding mode backstepping control for air-breathing hypersonic vehicles[J].Acta Aeronautica et Astronautica Sinica, 2017, 38(3):320287(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/hkxb201703018
[17]	骆长鑫, 张东洋, 雷虎民, 等.输入受限的高超声速飞行器鲁棒反演控制[J].航空学报, 2018, 39(4):321801. http://d.old.wanfangdata.com.cn/Periodical/hkxb201804018 LUO C X, ZHANG D Y, LEI H M, et al.Robust backstepping control of input-constrained hypersonic vehicle[J].Acta Aeronautica et Astronautica Sinica, 2018, 39(4):321801(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/hkxb201804018
[18]	WANG R X, CHENG Y, XU M Q.Analytical redundancy based fault diagnosis scheme for satellite attitude control systems[J].Journal of the Franklin Institute, 2015, 352(5):1906-1931. doi: 10.1016/j.jfranklin.2015.02.003