【摘要】：隨著航天技術(shù)的發(fā)展,在軌運(yùn)行航天器的任務(wù)變得愈發(fā)復(fù)雜,航天器發(fā)生故障的概率隨之增大,在故障診斷技術(shù)的研究中,大多是利用系統(tǒng)的狀態(tài)殘差進(jìn)行診斷,這種診斷方法的正確性基于設(shè)定的閾值,此值的設(shè)定較為復(fù)雜,影響了故障診斷的準(zhǔn)確性,基于此,本文應(yīng)用故障重構(gòu)的思想進(jìn)行故障診斷技術(shù)研究,并利用重構(gòu)的故障進(jìn)行容錯(cuò)控制設(shè)計(jì)。本文首先對姿態(tài)控制系統(tǒng)的建模問題進(jìn)行了研究,明確了閉環(huán)姿態(tài)控制系統(tǒng)的設(shè)計(jì)方法以及敏感器和執(zhí)行器的工作原理,建立了反作用飛輪的動力學(xué)模型,并基于此模型,討論研究了比例微分控制器和滑�？刂破鞯脑O(shè)計(jì)方法,為故障診斷和容錯(cuò)技術(shù)的研究奠定了基礎(chǔ)。其次研究了基于觀測器的故障重構(gòu)方法,在精確觀測系統(tǒng)狀態(tài)的前提下,利用觀測器的輸出部分實(shí)現(xiàn)故障重構(gòu),采用兩種方法,一種是基于滑模觀測器,采用自適應(yīng)律補(bǔ)償系統(tǒng)參數(shù)的干擾,利用滑模部分實(shí)現(xiàn)故障的重構(gòu),此方法在故障診斷時(shí)存在一定的時(shí)間延遲現(xiàn)象;另一種是基于未知輸入觀測器,采用未知輸入和故障解耦技術(shù),實(shí)現(xiàn)兩者的解耦設(shè)計(jì),并對兩者進(jìn)行重構(gòu)設(shè)計(jì),此方法在設(shè)計(jì)過程中降低了觀測器的維數(shù),在工程上易于實(shí)現(xiàn)。對于這兩種方法,論文基于Lyapunov理論分別給出了穩(wěn)定性證明。從仿真結(jié)果來看,觀測器實(shí)現(xiàn)了狀態(tài)的精確觀測,對于飛輪突發(fā)性故障和間歇性故障,兩種觀測器都實(shí)現(xiàn)了故障的重構(gòu),且精度較高。最后,本文研究了基于偽逆法的容錯(cuò)控制方法,同時(shí)給出了穩(wěn)定性證明,對于飛輪發(fā)生的間歇性故障,即飛輪的輸出力矩有一個(gè)偏差,在故障精確重構(gòu)的前提下,利用附加的控制律實(shí)現(xiàn)故障信息的補(bǔ)償,實(shí)現(xiàn)故障調(diào)節(jié),仿真結(jié)果表明,由于控制律的調(diào)節(jié)作用,雖然姿態(tài)角仍有偏差,但偏差已經(jīng)很小,這說明該方法對于間歇性故障有很好的容錯(cuò)效果。
[Abstract]:With the development of spaceflight technology, the mission of orbiting spacecraft becomes more and more complex, and the probability of spacecraft failure increases. In the research of fault diagnosis technology, the state residuals of the system are mostly used to diagnose. The correctness of this method is based on the threshold value, which is more complex and affects the accuracy of fault diagnosis. Based on this, this paper applies the idea of fault reconstruction to study the fault diagnosis technology. The fault tolerant control is designed by using the reconfigurable fault. In this paper, the modeling of attitude control system is studied, the design method of closed loop attitude control system and the working principle of sensor and actuator are defined, and the dynamic model of reaction flywheel is established based on this model. The design methods of proportional differential controller and sliding mode controller are discussed, which lays a foundation for the research of fault diagnosis and fault-tolerant technology. Secondly, the fault reconstruction method based on observer is studied. On the premise of observing the state of the system accurately, the output part of the observer is used to realize the fault reconstruction. Two methods are adopted, one is based on sliding mode observer, the other is based on sliding mode observer. The adaptive law is used to compensate the disturbance of system parameters, and the sliding mode part is used to reconstruct the fault. This method has a certain time delay phenomenon in fault diagnosis, the other is based on unknown input observer. The decoupling design of unknown input and fault decoupling is realized, and the reconfiguration design of both is carried out. This method reduces the order of the observer in the design process and is easy to be realized in engineering. For these two methods, the paper gives the proof of stability based on Lyapunov theory. From the simulation results, the observer realizes the accurate observation of the state, for the flywheel sudden fault and intermittent fault, the two observers achieve fault reconstruction, and the accuracy is high. Finally, the fault-tolerant control method based on pseudo-inverse method is studied, and the stability proof is given. For the intermittent fault of flywheel, that is, the output torque of flywheel, there is a deviation under the premise of accurate fault reconstruction. The additional control law is used to compensate the fault information and realize the fault regulation. The simulation results show that the attitude angle is still deviated, but the deviation is very small, because of the adjusting effect of the control law. This shows that the method has a good fault tolerance effect for intermittent faults.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：V467

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