考虑多种约束的航天器编队姿态协同容错控制方法研究

For upgrading the precise, cooperative and autonomous response capability of the spacecraft formation, which serves for the practical engineering including space exploration and resource detection. This project investigates the performance deteriorating caused by the communication, measurements, actuators of the spacecraft formation attitude control system, and constructs control strategies to solve these multiple constraints. The communication condition between formation members are taken into account, delay-dependent attitude coordinated control algorithm is proposed for the formation under directed communication topology. In order to compensate the measurement errors and remove the requirement of full-state feedback, attitude and angular velocity are estimated by observers with fast convergence rate. On basis of the observed states, attitude coordinated control law is proposed, which processes rapid response capacity and robustness to disturbances. Then, the actuator failures are analyzed to form the online reconstruction method, and attitude coordinated fault-tolerant control algorithm is investigated with consideration of input saturation. Aiming at establishing a set of fault-tolerant attitude coordinated control strategy with multiple constraints, the achievements of this project will provide theoretical foundation and technical support for improving the autonomy, reliability and security of spacecraft formation in practical missions.

为提高航天器编队在宇宙探索、资源探测等实际工程中的姿态控制精度、姿态协同性和自主响应能力，本项目针对存在通信约束、测量约束、执行机构性能约束的航天器编队提出姿态协同容错控制方案。深入研究通信条件对姿态协同的影响，针对有向通信拓扑结构中带有通信时滞的航天器编队提出时滞相关的姿态协同控制算法；研究姿态系统测量误差和测量信息缺失情况下，姿态和角速度的快速观测及补偿方法，基于观测器提出有良好干扰抑制效果且响应快速的姿态协同控制算法；研究执行机构故障的产生机理，给出故障在线重构方法，并在执行机构输出力矩饱和约束下，提出姿态协同容错控制算法。本项目旨在建立一套多种约束条件下的姿态协同容错控制方法，为改善航天器编队在实际任务中的自主性、可靠性、安全性提供理论基础和技术支持。

本项目以航天器编队姿态协同控制问题为背景，考虑了实际飞行中可能出现的通信约束、测量约束、执行器机构性能约束，利用观测器、控制器等技术提出航天器编队在多种约束下的姿态协同控制方案。本项目的主要研究内容如下：（1）研究了编队成员之间存在通信约束，并且个体航天器存在姿态控制系统执行器故障条件下的姿态协同容错控制方法；（2）研究了航天器编队存在测量约束的协同控制问题，开展航天器姿态与角速度同时存在测量误差的姿态协同控制器设计；（3）研究了航天器执行机构性能约束且角速度测量信息缺失情况下的姿态协同控制方法，设计了基于观测器的姿态控制算法，控制指令满足执行机构输入饱和的约束。本项目成果为提高多航天器协同飞行控制系统的自主性、可靠性提供了理论支撑和技术基础。