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在精确姿态控制阶段,由于反作用轮的故障,空间绳系机器人会出现姿态控制失稳的问题,为此,提出了一种空间绳系机器人姿态容错控制的新方法。该容错控制方法利用时间延迟控制算法,将前一个周期的控制量引入到当前控制律中,估计并补偿由于反作用轮故障引起的当前控制量变化。在推导该容错控制方法的基础上证明了它的稳定性,从反作用轮无故障和有故障两个方面,对利用时间延迟控制算法与利用PD控制算法的控制律进行了仿真比较。仿真结果表明,利用时间延迟控制方法跟踪目标姿态精度高、鲁棒性强;将时间延迟控制方法用于调整反作用轮故障状态下空间绳系机器人姿态具有较强的稳定性。
In the stage of precise attitude control, the problem of instability of attitude control appears in the space rover robot due to the failure of the reaction wheel. Therefore, a new method of attitude fault tolerant control of space ro-ro robot is proposed. The fault-tolerant control method uses the time delay control algorithm to introduce the control amount of the previous cycle into the current control law to estimate and compensate the change of the current control amount caused by the reaction wheel failure. On the basis of deducing the fault-tolerant control method, the stability of the fault-tolerant control method is proved. The control law using PD control algorithm is simulated and compared from the view of fault-free and fault-free reaction wheel. The simulation results show that the target attitude accuracy and robustness are improved by using the time delay control method. The time delay control method is used to adjust the attitude stability of the space rover robot in the state of reaction wheel failure.