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针对超静平台主动指向控制中的作动器故障问题,提出一种超静平台主动指向容错控制方法。首先,基于超静平台的一般动力学模型,推导用于指向控制的解耦模型和标准解耦矩阵,将超静平台由高度耦合的复杂多输入多输出系统变为多个相对简单的单输入单输出系统,有利于控制器的设计和容错控制方法的引入;在此基础上,针对作动器的故障问题,提出指向控制重构策略,并建立新解耦矩阵;进一步,提出基于解耦矩阵条件数最小的冗余自由度选择方法;最后,进行了数值仿真分析。仿真结果表明:基于冗余自由度最优选择的主动指向容错控制方法能够最大限度地减少作动器故障对超静平台主动指向控制效果的影响。
Aiming at the problem of actuator failure in active pointing control of ultra-quiet platform, a method of active pointing fault-tolerant control of ultra-quiet platform is proposed. First, based on the general dynamic model of the ultra-quiet platform, the decoupling model and the standard decoupling matrix for directional control are derived. The ultra-quiet platform is transformed from a highly coupled complex MIMO system to multiple relatively simple single-input Single-output system is conducive to the design of controller and the introduction of fault-tolerant control method. Based on this, aiming at the fault of actuator, the strategy of pointing control reconfiguration is proposed and a new decoupling matrix is established. Furthermore, The choice of redundant degrees of freedom with the minimum number of matrix conditions; Finally, the numerical simulation is carried out. The simulation results show that the active fault-tolerant control method based on optimal choice of redundant degrees of freedom can minimize the influence of actuator failure on the active pointing control performance of the ultra-quiet platform.