复杂系统的容错控制技术及其在近空间飞行器中的应用研究
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摘要
目前，随着社会的快速发展与进步，复杂控制系统的规模越来越大，人们对这类复杂系统的安全性、可靠性及可维护性要求越来越高。为了大量的减少灾难性事故发生、减少环境污染、减少社会经济损失以及保障人民的生命安全，复杂控制系统的故障诊断与容错控制技术为解决上述问题提供了一条选择之路。在过去的几十年里，复杂控制系统的故障诊断与容错控制技术得到了长足发展，尤其最近十几年，伴随着计算机网络技术、模式识别、机器学习和各种先进控制算法的快速发展，许多新方法和新技术被引入到该研究领域中，大大丰富了复杂控制系统故障诊断与容错控制技术的研究内容。
近空间飞行器是目前世界上各主要发达国家竞相研制的一种能够跨越“空”“天”两个不同空域进行机动飞行的高超声速飞行器。这类复杂的飞行器飞行速度一般都在5马赫以上，飞行空域为距离海平面20-100公里，它按照任务需求采用垂直火箭助推发射或者由大型运输机携至空中水平发射，以碳氢或者氢为燃料使用吸气式超燃冲压发动机作为推进动力进行高超声速飞行，预计可以在2小时内可到达全球任意地方。对于这样一个非常复杂的飞行器而言，在其控制系统的设计过程中，必须考虑故障诊断与容错控制技术的应用，以便增强该飞行器的安全性、可靠性及可维护性。
目前美、俄、法、英、日等航空航天强国对近空间飞行器高超声速飞行技术的研究投入了大量的人力和物力，已取得了大量的研究成果，有些关键性技术已进入工程化验证阶段，而我国在这方面的研究则刚刚处于起步阶段，国内相关高校和研究所对近空间飞行器的关键性基础问题(如材料、动力、控制等)正在展开深入的研究，并取得了一定的成果。本研究主要是在基于前人已有的研究基础上，进一步研究近空间飞行器控制系统的容错控制技术(包含主动容错和被动容错)。本研究内容主要分为如下五部分：
第一：针对近空间飞行器的纵向飞行动态系统，将其在某一平衡点附近线性化，同时考虑攻角不确定性和外部未知扰动对系统模型的影响，通过采用鲁棒控制技术，对执行机构发生控制增益损失故障情况下的近空间飞行器纵向飞行动态系统，设计了一个鲁棒被动容错控制器，应用李亚普诺夫稳定性理论分析了闭环控制系统的稳定性。最后通过Matlab仿真，验证了所设计的容错控制器在部分执行机构出现控制增益损失情况下具有较好的容错能力。
第二：针对近空间飞行器的复杂非线性姿态控制系统，通过选取攻角和角速率变量为模糊规则的前件变量，将其由一组T-S模糊系统来近似拟合。对于所建立的模糊系统，充分考虑参数摄动对系统模型的影响，通过采用鲁棒控制技术，对执行机构发生控制增益部分损失故障情况下的近空间飞行器姿态控制系统，设计了一个模糊被动容错控制器。在李亚普诺夫稳定意义下证明了闭环控制系统是鲁棒渐近可靠的，最后通过仿真比较，验证了提所方法在执行机构发生故障情况下仍然具有良好的动态特性。
第三：针对近空间飞行器姿态控制系统的T-S模糊模型，充分考虑外部扰动因素对被控系统的影响，通过采用广义扩张系统方法，对传感器发生未知时变故障情况下的近空间飞行器姿态控制系统，提出了一种新颖的故障估计和补偿策略。最后通过Matlab仿真，验证了所提出方法在部分传感器出现时变故障情况下的可行性。
第四：针对近空间飞行器姿态控制系统的T-S模糊模型，在部分执行机构发生卡死故障的情况下，通过设计了一个迭代学习观测器，可以实时的观测被控系统的动态变化，一旦某些执行机构发生卡死故障，即可产生故障补偿控制输入项，在线的减少卡死故障对被控对象的影响，从而起到渐近调节故障的效果。最后通过Matlab仿真，验证了所提出方法在部分执行机构出现卡死故障情况下的有效性。
第五：针对近空间飞行器的非线性姿态控制系统，通过考虑飞行器再入飞行过程中的动态特点，假设地球的自转运动和飞行器自身的平移运动不影响飞行器的旋转运动，在控制力矩出现突变故障的情况下，通过设计一个非线性鲁棒自适应观测器，及时的检测系统故障是否发生，然后基于内外双环滑模控制策略提出了一个主动容错跟踪控制律。最后通过Matlab仿真，验证了所提出主动容错控制方法在控制力矩出现突变恒偏差故障时具有良好的控制效果。
At present, with the rapid development and progress of the society, the scale of the complexcontrol system becomes biger and biger, the demands for the satety, reliability and maintainability ofthese complex control systems are increasing. In order to reduce the number of catastrophic accidents,reduce the environment pollution, reduce the losses of social economic assets and protect the lives ofthe people, the technology about fault diagnosis and fault tolerant control of comolex control systemsprovides an alternative road for solving the problems described above. In the past few decades, thetechnology about fault diagnosis and fault-tolerant control of the complex control system has madeconsiderable progress. Especially in the past ten years, along with the quickly development of thecomputer network, pattern recognition, machine learning and all kinds of advanced control algorithms,many new methods and technologies are introduced into the fields of fault diagnosis and fault tolerantcontrol, which greatly enrich the research contents of fault diagnosis and fault-tolerant controltechnology.
Near Space Vehicle (NSV) is a class of hypersonic aircraft, which can acrosses "air""space" twodifferent regions for maneuver flying, it has attracted the research interesting of all developedcountries. The flight speed of this kind of complex aircraft is more than Mach5or higher. The flightregion of this aircraft is the20-100km from the sea level, according to the mission requirement, thiscomplex aircraft take vertical rocket-propelled launch or air level launch by the large transport aircraft,which mkes use of hydrocarbon or hydrogen as fuel and ultilizes air-breathing scramjet engine as thepropulsion for hypersonic flight, the complex aircraft can reach evrywhere of the world within2hours.For such kind of complex aircraft, the technology about fault diagnosis and fault tolerant control mustbe considered in the designing of the flight control systems in order to enhance the safety, reliabilityand maintainability of this kind of aircraft.
Currently United States, Russia, France, United Kingdom, Japan and other aerospace powercountries have put a lot of manpower and material resources for developing the flight technology ofnear space hypersonic vehicle, they have achieved lots of research results, even some keytechnologies have entered the engineering verification phase, while, the research on near spacehypersonic vehicle in our country is in the initial stage. The related universities and institutes aredoing some key basic researches (such as materials, power, control, etc.), and they have achievedsome important results. Based on the existing research results, this study is further investigating the technology about fault tolerant control of near space vehicle control (including active fault tolerancecontrol and passive fault tolerance control). This research is divided into the following five sections:
First: The longitudinal flight dynamical systems of near space hypersonic vehicle aretransformed into a linearized model at the equilibrium point by using the small perturbationlinearization technique. Meanwhile, this study takes into account the effects of the attack angleuncertainty and unknown disturbance input on the controlled systems, and makes use of the robustcontrol technique designing a robust passive fault tolerant cotroller for the the longitudinal flightdynamics of near space hypersonic vehicle in the presence of the partial loss fault of controleffectiveness. Then, the stability of the closed-loop control system is analysed using Lyapunovstability theory. Finally, simulation results are given to show the good fault tolerance ability of theproposed control approach.
Second: For the complex nonlinear attitude control systems of near space vehicle, we selectangle of attack and angular velocity as the antecedent variables of fuzzy rules. Then the attitudecontrol system of near space vehicle is transformed into a Takagi–Sugeno (T-S) fuzzy model. For theestablished T-S fuzzy model, we consider the effects of unknown parameter perturbation, and design apassive fault tolerant fuzzy controller for the T-S fuzzy model of near space vehicle under someactuator failures case by using robust control technique. In the sense of Lyapunov stability, theclosed-loop control systems is proved to be robust asymptotic reliable. Finally, simulation results aregiven to verify the good dynamic characteristics of the proposed passive fault tolerant approach bydoing simulation comparison.
Third: For the T-S fuzzy model of near space vehicle attitude control system, this study takes intoaccount the impact of external disturbance factors to the controlled system, and based on thegeneralized extended system approach, a novel fault estimation and compensation strategies isdeveloped for the attitude control systems of near space vehicle with sensor time varying fault. Finally,Matlab simulation results are given to illustrate the feasibility of the proposed sensor fault estimationand compensation technology.
Fourth: For the T-S fuzzy model of near space vehicle attitude control system in some actuatorstuck faults case, this study design an iterative learning observer, which can be used for observeringthe dynamic change of the controlled system real-time. Once an actuator stuck fault occurs, the faultcompensation control input is produced on line by using the observer error signal, which can reducethe effect of the actuator stuct fault to the controlled system. Thus, the purpose of faultaccommodation is achieved. Finally, Matlab simulation results are given to illustrate the effectivenessand potential of the proposed control strategy.
Fifth: For the nonlinear attitude control system of near space vehicle in re-entry flight phase, thisstudy assumes that the rotation movement of Earth and the translational motion of aircraft hardly affectthe rotational motion of aircraft. When an abrupt fault occurred in the dynamic equations of nearspace vehicle, this study design a nonlinear fault detection observer for monitoring the dynamic changeof the controlled systems. Then, an active fault tolerant control scheme is presented on the basis of thedouble-loop sliding mode control strategy for the faulty system. Finally, Matlab simulation resultsdomenstrate that the proposed active fault tolerant control approach has a satisfactory controlperformance in spite of actuator fault.
近空间飞行器是目前世界上各主要发达国家竞相研制的一种能够跨越“空”“天”两个不同空域进行机动飞行的高超声速飞行器。这类复杂的飞行器飞行速度一般都在5马赫以上，飞行空域为距离海平面20-100公里，它按照任务需求采用垂直火箭助推发射或者由大型运输机携至空中水平发射，以碳氢或者氢为燃料使用吸气式超燃冲压发动机作为推进动力进行高超声速飞行，预计可以在2小时内可到达全球任意地方。对于这样一个非常复杂的飞行器而言，在其控制系统的设计过程中，必须考虑故障诊断与容错控制技术的应用，以便增强该飞行器的安全性、可靠性及可维护性。
目前美、俄、法、英、日等航空航天强国对近空间飞行器高超声速飞行技术的研究投入了大量的人力和物力，已取得了大量的研究成果，有些关键性技术已进入工程化验证阶段，而我国在这方面的研究则刚刚处于起步阶段，国内相关高校和研究所对近空间飞行器的关键性基础问题(如材料、动力、控制等)正在展开深入的研究，并取得了一定的成果。本研究主要是在基于前人已有的研究基础上，进一步研究近空间飞行器控制系统的容错控制技术(包含主动容错和被动容错)。本研究内容主要分为如下五部分：
第一：针对近空间飞行器的纵向飞行动态系统，将其在某一平衡点附近线性化，同时考虑攻角不确定性和外部未知扰动对系统模型的影响，通过采用鲁棒控制技术，对执行机构发生控制增益损失故障情况下的近空间飞行器纵向飞行动态系统，设计了一个鲁棒被动容错控制器，应用李亚普诺夫稳定性理论分析了闭环控制系统的稳定性。最后通过Matlab仿真，验证了所设计的容错控制器在部分执行机构出现控制增益损失情况下具有较好的容错能力。
第二：针对近空间飞行器的复杂非线性姿态控制系统，通过选取攻角和角速率变量为模糊规则的前件变量，将其由一组T-S模糊系统来近似拟合。对于所建立的模糊系统，充分考虑参数摄动对系统模型的影响，通过采用鲁棒控制技术，对执行机构发生控制增益部分损失故障情况下的近空间飞行器姿态控制系统，设计了一个模糊被动容错控制器。在李亚普诺夫稳定意义下证明了闭环控制系统是鲁棒渐近可靠的，最后通过仿真比较，验证了提所方法在执行机构发生故障情况下仍然具有良好的动态特性。
第三：针对近空间飞行器姿态控制系统的T-S模糊模型，充分考虑外部扰动因素对被控系统的影响，通过采用广义扩张系统方法，对传感器发生未知时变故障情况下的近空间飞行器姿态控制系统，提出了一种新颖的故障估计和补偿策略。最后通过Matlab仿真，验证了所提出方法在部分传感器出现时变故障情况下的可行性。
第四：针对近空间飞行器姿态控制系统的T-S模糊模型，在部分执行机构发生卡死故障的情况下，通过设计了一个迭代学习观测器，可以实时的观测被控系统的动态变化，一旦某些执行机构发生卡死故障，即可产生故障补偿控制输入项，在线的减少卡死故障对被控对象的影响，从而起到渐近调节故障的效果。最后通过Matlab仿真，验证了所提出方法在部分执行机构出现卡死故障情况下的有效性。
第五：针对近空间飞行器的非线性姿态控制系统，通过考虑飞行器再入飞行过程中的动态特点，假设地球的自转运动和飞行器自身的平移运动不影响飞行器的旋转运动，在控制力矩出现突变故障的情况下，通过设计一个非线性鲁棒自适应观测器，及时的检测系统故障是否发生，然后基于内外双环滑模控制策略提出了一个主动容错跟踪控制律。最后通过Matlab仿真，验证了所提出主动容错控制方法在控制力矩出现突变恒偏差故障时具有良好的控制效果。
At present, with the rapid development and progress of the society, the scale of the complexcontrol system becomes biger and biger, the demands for the satety, reliability and maintainability ofthese complex control systems are increasing. In order to reduce the number of catastrophic accidents,reduce the environment pollution, reduce the losses of social economic assets and protect the lives ofthe people, the technology about fault diagnosis and fault tolerant control of comolex control systemsprovides an alternative road for solving the problems described above. In the past few decades, thetechnology about fault diagnosis and fault-tolerant control of the complex control system has madeconsiderable progress. Especially in the past ten years, along with the quickly development of thecomputer network, pattern recognition, machine learning and all kinds of advanced control algorithms,many new methods and technologies are introduced into the fields of fault diagnosis and fault tolerantcontrol, which greatly enrich the research contents of fault diagnosis and fault-tolerant controltechnology.
Near Space Vehicle (NSV) is a class of hypersonic aircraft, which can acrosses "air""space" twodifferent regions for maneuver flying, it has attracted the research interesting of all developedcountries. The flight speed of this kind of complex aircraft is more than Mach5or higher. The flightregion of this aircraft is the20-100km from the sea level, according to the mission requirement, thiscomplex aircraft take vertical rocket-propelled launch or air level launch by the large transport aircraft,which mkes use of hydrocarbon or hydrogen as fuel and ultilizes air-breathing scramjet engine as thepropulsion for hypersonic flight, the complex aircraft can reach evrywhere of the world within2hours.For such kind of complex aircraft, the technology about fault diagnosis and fault tolerant control mustbe considered in the designing of the flight control systems in order to enhance the safety, reliabilityand maintainability of this kind of aircraft.
Currently United States, Russia, France, United Kingdom, Japan and other aerospace powercountries have put a lot of manpower and material resources for developing the flight technology ofnear space hypersonic vehicle, they have achieved lots of research results, even some keytechnologies have entered the engineering verification phase, while, the research on near spacehypersonic vehicle in our country is in the initial stage. The related universities and institutes aredoing some key basic researches (such as materials, power, control, etc.), and they have achievedsome important results. Based on the existing research results, this study is further investigating the technology about fault tolerant control of near space vehicle control (including active fault tolerancecontrol and passive fault tolerance control). This research is divided into the following five sections:
First: The longitudinal flight dynamical systems of near space hypersonic vehicle aretransformed into a linearized model at the equilibrium point by using the small perturbationlinearization technique. Meanwhile, this study takes into account the effects of the attack angleuncertainty and unknown disturbance input on the controlled systems, and makes use of the robustcontrol technique designing a robust passive fault tolerant cotroller for the the longitudinal flightdynamics of near space hypersonic vehicle in the presence of the partial loss fault of controleffectiveness. Then, the stability of the closed-loop control system is analysed using Lyapunovstability theory. Finally, simulation results are given to show the good fault tolerance ability of theproposed control approach.
Second: For the complex nonlinear attitude control systems of near space vehicle, we selectangle of attack and angular velocity as the antecedent variables of fuzzy rules. Then the attitudecontrol system of near space vehicle is transformed into a Takagi–Sugeno (T-S) fuzzy model. For theestablished T-S fuzzy model, we consider the effects of unknown parameter perturbation, and design apassive fault tolerant fuzzy controller for the T-S fuzzy model of near space vehicle under someactuator failures case by using robust control technique. In the sense of Lyapunov stability, theclosed-loop control systems is proved to be robust asymptotic reliable. Finally, simulation results aregiven to verify the good dynamic characteristics of the proposed passive fault tolerant approach bydoing simulation comparison.
Third: For the T-S fuzzy model of near space vehicle attitude control system, this study takes intoaccount the impact of external disturbance factors to the controlled system, and based on thegeneralized extended system approach, a novel fault estimation and compensation strategies isdeveloped for the attitude control systems of near space vehicle with sensor time varying fault. Finally,Matlab simulation results are given to illustrate the feasibility of the proposed sensor fault estimationand compensation technology.
Fourth: For the T-S fuzzy model of near space vehicle attitude control system in some actuatorstuck faults case, this study design an iterative learning observer, which can be used for observeringthe dynamic change of the controlled system real-time. Once an actuator stuck fault occurs, the faultcompensation control input is produced on line by using the observer error signal, which can reducethe effect of the actuator stuct fault to the controlled system. Thus, the purpose of faultaccommodation is achieved. Finally, Matlab simulation results are given to illustrate the effectivenessand potential of the proposed control strategy.
Fifth: For the nonlinear attitude control system of near space vehicle in re-entry flight phase, thisstudy assumes that the rotation movement of Earth and the translational motion of aircraft hardly affectthe rotational motion of aircraft. When an abrupt fault occurred in the dynamic equations of nearspace vehicle, this study design a nonlinear fault detection observer for monitoring the dynamic changeof the controlled systems. Then, an active fault tolerant control scheme is presented on the basis of thedouble-loop sliding mode control strategy for the faulty system. Finally, Matlab simulation resultsdomenstrate that the proposed active fault tolerant control approach has a satisfactory controlperformance in spite of actuator fault.
引文
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