苗楠^1，， 牛广林^2，， 胡庆雷^1，2，*

（  1、哈尔滨工业大学航天学院，哈尔滨 150001；       2、北京航空航天大学自动化科学与电气工程学院，北京 100191；  ）

摘要： 高精度、高稳定度、具有自主性的航天器姿态控制技术，是航天器完成在轨任务的核心。然而，航天器在轨工作时，不可避免会受到外部扰动力矩等因素的影响，同时有可能发生执行器部分失效故障，导致航天器姿态控制性能显著下降，甚至在轨任务的失败。为了解决该问题，本文提出了一类考虑执行器部分失效的航天器姿态跟踪主动容错控制方法。首先，通过引入一阶回归滤波器，得到执行器失效因子真实值的代替项，基于此信息设计了执行器部分失效因子观测器，并在一阶回归滤波器形式上，进一步设计了主动容错控制器。然后，考虑故障观测器的估计误差，证明了闭环系统可以实现故障估计以及姿态跟踪误差在Lyapunov意义下的渐近稳定性。最后，利用MATLAB/Simulink仿真平台，验证了本文设计的主动容错控制器的有效性和鲁棒性，并且通过与传统PD控制器对比数值仿真实验，并且在消耗更少能量的前提下，获得了更好的动态控制性能。
关键词： 航天器；姿态跟踪控制；执行器部分失效；故障观测器；主动容错控制

Miao Nan^1,， Niu Guanglin^2,， Hu Qinglei^3,*

（  1、School of Astronautics, Harbin Insitute of Technology, Harbin 150001；       2、School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191；       3、School of Astronautics, Harbin Insitute of Technology, Harbin 150001；School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191；  ）

Abstract： Spacecraft attitude control technology, which requires high precision, high stability, and autonomous, plays an important role in spacecraft on-orbit servicing mission. However, the spacecraft in orbit is always inevitably influenced by external disturbances, meanwhile, the actuator partial loss of effectiveness will happen possibily, which will lead to a significant drop in the attitude control performance of the spacecraft and even the failure of the on-orbit mission. To address this problem, this paper proposed an active fault tolerant attitude tracking control for spacecraft under partial loss of actuator effectiveness. Firstly, we introduced a first-order regression filter, and designd a fault observer based on this information, furtherly, an active fault tolerant controller was proposed. Secondly, the asymptotic stability of closed loop system fault estimation error and attitude tracking error was given in terms of Lyapunov Theorem. Finally, with MATLAB/Simulink simulation platform, the effectiveness and robustness of the proposed active fault tolerant control strategy was evaluated extensively, meanwhile, compared with traditional PD controller, under the premise of consuming less energy, the better dynamic control performance is obtained through numerical simulation.
Keywords： Spacecraft; Attitude tracking control; Partial loss of actuator effectiveness; Fault observer; Active fault tolerant control

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