中国空间科学技术

中国空间科学技术 ›› 2024, Vol. 44 ›› Issue (5): 15-22.doi: 10.16708/j.cnki.1000-758X.2024.0070

• 嫦娥六号探测器和鹊桥二号中继星专题I • 上一篇    下一篇

嫦娥六号环月飞行双环容错姿态控制

张洪华，关轶峰，李骥，于洁，陈尧，王志文，张晓文，张录晨，李林峰，孙国健，王振华，郭敏文，李晓锋，高锡珍   

  1. 1 北京控制工程研究所, 北京100190
    2 空间智能控制技术国家级重点实验室, 北京100190
  • 出版日期:2024-10-25 发布日期:2024-10-21

A dual-loop fault tolerant attitude control for the Chang′e-6 lunar orbit flight

ZHANG Honghua，GUAN Yifeng，LI Ji，YU Jie，CHEN Yao，WANG Zhiwen，ZHANG Xiaowen，ZHANG Luchen，LI Linfeng，SUN Guojian，WANG Zhenhua，GUO Minwen，LI Xiaofeng，GAO Xizhen   

  1. 1 Beijing Institute of Control Engineering, Beijing 100190, China
    2 Science and Technology on Space Intelligent Control Laboratory, Beijing 100190, China
  • Published:2024-10-25 Online:2024-10-21

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摘要： 嫦娥六号着陆器和上升器组合体（着上组合体）环月飞行阶段，利用安装于上升器的10N发动机（可形成力偶控制方式）和安装于着陆器的150N发动机进行姿态控制。根据发动机安装布局，当力偶控制方式下某10N发动机常关故障、其配对使用的10N发动机正常工作时，推进系统将产生与期望相反的控制力矩，导致姿态发散。为了保证在10N发动机故障情况下着上组合体姿态稳定，给出了双环容错姿态控制策略，包括10N发动机内环控制和150N发动机外环控制。数学仿真结果表明，着上组合体环月飞行阶段双环容错姿态控制下，10N发动机故障后，着上组合体姿态可以稳定在给定范围内。针对配置力偶姿控发动机和冗余发动机的探测器，采用双环容错姿态控制策略，可以有效应对力偶姿控发动机故障影响，保证探测器姿态稳定。

关键词: 嫦娥六号, 环月, 发动机, 容错, 姿态控制, 相平面

Abstract: During the lunar orbit flight phase of the Chang′e-6 lander and ascender module (LAM), the 10N thruster (could be used in a force-couple method) on the ascender and the 150N thruster on the lander are implemented for the attitude control. However, there exists some fault cases when one 10N thruster failed to fire and the other pair one could work well, the propulsion system could generate opposite control torque due to the installation of thrusters and the attitude could be instable accordingly. To ensure the attitude stability in the 10N thruster fault case, a dual-loop fault tolerant attitude control is proposed with a 10N thruster in the inner loop and a 150N thruster in the outer loop. Numerical simulations illustrate that the LAM attitude in the lunar orbit could still meet the requirements even in the case of the 10N thruster fault. Therefore, the proposed dual-loop attitude control, which implements coupled attitude control thrusters and redundant thrusters, could effectively manage the coupled thruster fault and ensure the stabitlity.

Key words: Chang′e-6, lunar orbit, thruster, fault tolerant, attitude control, phase plane