卫星姿态控制系统的故障诊断与容错方法分析-fault diagnosis and fault tolerance analysis of satellite attitude control system.docx

哈尔滨工业大学工学博士学位论文 哈尔滨工业大学工学博士学位论文 Abs Abstract - - PAGE VIII - - - III - 障检测、隔离和辨识(FDI)方法。该方法首先采用等价空间法对测量数据进行预处 理，构建残差信号；然后采用子空间法辨识出增广观测矩阵，进而实现敏感器故 障鲁棒检测；并通过线性变换对等价空间进行降阶，减小算法在线计算量。最 后，将上述方法应用于卫星姿控系统的敏感器故障问题，数学仿真结果表明，不 依赖故障先验知识，仅利用输入输出观测数据，就能够在线完成未知系统模型情 况下的敏感器故障检测、隔离与辨识，由于采用了故障降阶检测处理，有效减少 了计算量，适宜于卫星在轨应用。 状态监测和系统重构是卫星长期自主运行的保障，也是开发星上健康管理系 统的关键技术之一，首先，给出了一种含有状态监测和系统重构环节的健康管理 系统容错控制体系结构；针对存在未知干扰输入的非线性系统，采用基于数据驱 动的模式识别方法，设计了一组基于支持向量机(SVM)的非线性故障估计器，利用 正常操作条件下和各种故障状态下的历史数据实现了故障信息的近似检测和隔离 估计；进而利用检测的系统信息和辨识出的系统参数，设计了学习观测器，通过 学习算法提供用于控制器重构的信息，修改反馈控制律，实现了对故障的自适应 故障补偿，并理论证明了故障估计误差有界。最后，以卫星对地观测过程中自主 运行任务为例进行了仿真验证，结果表明在执行器发生未预知故障时仍可以实现 系统状态监测和故障重构。 关键词：卫星姿态控制；故障诊断；容错控制；模型不确定；数据驱动；迭代学 习 Abstract Attitude control system is the core subsystem to maintain regular satellite operation. Due to long-term in-orbit work in the harsh environment of space, the components such as actuators and sensors in the attitude control system continue to perform in-orbit control operations, therefore are prone to faults. Due to the severe consequence of fault irreparability, the satellite attitude control system fault diagnosis and fault tolerant control technology has always been a strong concern in the field of aerospace industry. Meanwhile, conventional fault-tolerant attitude control techniques based on precise models have limitations to deal with the unknown changes of on-orbit satellite system model parameters caused by mechanical motion, fuel consumption and space environment. Oriented from the high reliability and long-life requirement for major facilities and equipment, and funded by the National Natural Science Foundation of China , the thesis performs in-depth study on fault-tolerant control issues of satellite attitude control system with model uncertainties in both theoretical and applied aspects. The research mainly involves the following points. Considering the existence of noises, unknown disturbances and model uncertainties, an integrity passive fault-tolerant control design