Fixed-time attitude sliding mode fault-tolerant control for liquid-filled spacecraft
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摘要:
研究存在执行器饱和、执行器故障和外部扰动的液体大幅晃动充液航天器姿态系统，提出一种基于干扰观测器的滑模容错控制策略，实现姿态固定时间稳定。动力学建模过程中，将大幅晃动的液体燃料等效为运动脉动球模型，建立刚-液耦合航天器动力学方程。控制器设计过程中，设计自适应固定时间干扰观测器，保证控制系统中的综合扰动可以在固定时间内被估计到；在此基础上，利用滑模控制理论设计固定时间姿态滑模容错控制策略；此外，通过引入双曲正切函数，克服传统输入饱和的符号函数。该控制策略能够快速实现液体大幅晃动的充液航天器在执行器饱和、执行器故障和外部扰动的影响下姿态高精度稳定。将所提姿态滑模容错控制策略进行数值仿真与对比，验证控制策略的有效性和优越性。
Abstract:The attitude system of liquid sloshing in liquid-filled spacecraft with actuator saturation, actuator failure, and external disturbance is studied. A sliding mode fault-tolerant control strategy based on a disturbance observer is proposed to achieve attitude fixed-time stability. In the process of dynamic modeling, the liquid fuel with large sloshing is equivalent to the motion pulsating ball model, and the dynamic equation of rigid-liquid coupling spacecraft is established. To guarantee that the complete disturbance in the control system can be calculated in a predetermined amount of time, an adaptive fixed-time disturbance observer is initially created during the attitude controller design phase. On this basis, a fixed-time attitude sliding mode fault-tolerant control strategy is designed by using sliding mode control theory. In addition, by introducing the hyperbolic tangent function, the sign function of traditional input saturation is overcome. Despite external disturbances, actuator failure, and actuator saturation, the control technique may rapidly establish high-precision attitude stability of the spacecraft. Finally, the attitude sliding mode fault-tolerant control scheme proposed in this paper is numerically simulated and compared to verify the effectiveness and superiority of the control strategy.
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图 6 Case 1的脉动球角速度变化曲线
Figure 6. Curves of the pulsating ball angular velocities in Case 1
图 7 Case 1的综合扰动估计误差曲线、液体晃动力矩曲线和液体晃动占综合扰动的比例
Figure 7. Curves of comprehensive disturbance estimation error, liquid sloshing and liquid sloshing as a proportion of the comprehensive disturbance in Case 1
图 12 Case 2的脉动球角速度变化曲线
Figure 12. Curves of the pulsating ball angular velocities in Case 2
表 1 充液航天器的参数
Table 1. Liquid-filled spacecraft parameters
$ \mu / ({{\mathrm{m}}^2} \cdot {{\mathrm{s}}^{ - 1}}) $ $\sigma /({\mathrm{N}} \cdot {{\mathrm{m}}^{ - 1}})$ $R/{\text{m}}$ $m/{\text{kg}}$ ${{\boldsymbol{r}}_{\mathrm{t}}}/{\text{m}}$ ${{\boldsymbol I}_0}/({\text{kg}} \cdot {{\text{m}}^{\text{2}}})$ 10−6 0.000 5 0.64 100 $ [ - 0.05, - 0.11, 0.11]^{\text{T}} $ $ {\text{diag(2}}0,5,15) $ ${\boldsymbol{\varOmega}}(0)/ ({\mathrm{rad}} \cdot {{\mathrm{s}}^{ - 1}})$ ${\boldsymbol{\rho}} (0)$ ${{\boldsymbol{r}}_{\mathrm{s}}}(0)/{\text{m}}$ ${{\boldsymbol{V}}_{\mathrm{S}}}(0)/ ({\mathrm{m}} \cdot {{\mathrm{s}}^{ - 1}})$ ${\text{ω}}(0)/ ({\mathrm{rad}} \cdot {{\mathrm{s}}^{ - 1}})$ ${\boldsymbol{d}}/ ({\mathrm{N}} \cdot {\mathrm{m}})$ $ {[0.1,0,0]^{\text{T}}} $ $ [0.282{\text{ }}0, - 0.612{\text{ }}7, 0.402{\text{ }}9]^{\text{T}} $ $ {[0, - 0.19,0]^{\text{T}}} $ ${[0,0,0]^{\text{T}}}$ ${[0,0,0]^{\text{T}}}$ $ \left[ \begin{gathered} \cos 0.2t \\ \sin 0.5t{\text{ }} \\ \sin 0.1t \\\end{gathered} \right] \times {10^{ - 3}} $ 
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