中国空间科学技术

中国空间科学技术 ›› 2022, Vol. 42 ›› Issue (1): 73-82.doi: 10.16708/j.cnki.1000-758X.2022.0008

• 论文 • 上一篇    下一篇

考虑失效性故障的火星探测器进入段姿态容错控制

戴清，周洪刚，刘鹏轩，李爽   

  1. 1 南京航空航天大学 航天学院，南京211106
    2 航天科工空间工程发展有限公司，北京100039
  • 出版日期:2022-02-25 发布日期:2022-01-27
  • 基金资助:
    国家自然科学基金（11672126）

Fault-tolerant attitude control of Mars entry phase considering actuator failure

DAI Qing，ZHOU Honggang, LIU Pengxuan，LI Shuang   

  1. 1 College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
    2 CASIC Space Engineering Development Co., Ltd., Beijing 100039, China
  • Published:2022-02-25 Online:2022-01-27

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摘要： 火星进入过程中的故障和外部干扰不可避免地降低了火星进入制导和控制算法的性能。利用反步法设计了一种对转动惯量信息变化不敏感的火星进入姿态容错控制算法。首先，将虚拟控制律的微分量视作干扰量，利用自适应技术对其进行补偿，避免了传统反步法微分爆炸的缺陷。同时，控制设计过程中显式地引入了饱和函数，保证了在存在输入饱和的情况下，控制律仍然能使得探测器姿态保持稳定。最后，以“火星科学实验室”探测器为模型进行了数值仿真验证，结果表明该控制律在存在输入饱和约束、转动惯量不确定性、执行机构部分失效甚至完全失效的工况下，仍然能够完成对姿态的精准跟踪。

关键词: 火星进入, 姿态跟踪, 容错控制, 输入饱和, 转动惯量未知

Abstract:  Failure and external disturbance during the process of Mars entry inevitably degrade the performance of Mars entry guidance and control algorithms.The backstepping method was used to design the attitude fault-tolerant control algorithm for Mars entry, which is not sensitive to changes in the moment of inertia information. First, the derivative of the virtual control law was regarded as an interference quantity, and the adaptive technology was used to compensate it, which avoids the defect of differential explosion in the traditional backstepping method. Meanwhile, the saturation function was explicitly introduced in the control design process to ensure that the control law could still keep the attitude of probe stable in the presence of input saturation. Finally, the "Mars Science Laboratory" probe was used as a model for numerical simulation verification. The results show that the controller can achieve the accurate attitude tracking under input saturation,uncertainty of inertia and the actuator failure conditions.

Key words: Mars entry, attitude tracking, fault-tolerant control, input saturation, inertiafree