非冗余舵面与RCS复合故障的自愈控制方法

临近空间飞行器在稀-稠大气过渡阶段且反推力矢量装置(Reaction Control System, RCS)有剩余燃料的情况下，RCS对于非冗余舵面的故障补偿与在线重构具有重要意义。基于此，本文研究了针对非冗余舵面与RCS复合故障的自愈控制方法，以实现飞行器的安全可靠控制。首先，建立了执行机构故障等不确定影响下的姿态控制模型；其次，针对舵面故障给出了基于残差观测的故障检测与自诊断方法，设计了RCS与舵面复合故障的分离诊断策略；然后，基于非线性比例-微分控制及故障诊断信息，设计了舵面故障补偿的自愈控制器；同时，基于RCS故障喷管序列判定，设计了复合故障下RCS在线重构的自愈控制器。最后，通过某典型全弹道姿态跟踪数值仿真，验证了该方法的有效性及可靠性。

Self-Healing Control under Composite Non-Redundant Aerodynamic Surface and Thrust Vector Faults

In the dilute-dense atmosphere transition stage of near space vehicles whose reaction control system (RCS) still has residual fuel, it is significant to utilize RCS for the fault compensation and online reconfiguration of non-redundant aerodynamic surfaces. To this end, this paper proposes a self-healing control under the non-redundant aerodynamic surface and thrust vector composite faults to achieve safe and reliable control of the vehicle. First, the attitude control model under actuator faults and uncertainties is established; Second, a residual observation-based fault detection and diagnosis method is presented for actuator faults, and a separation diagnosis strategy for composite faults of RCS and actuators is designed. Then, a self-healing controller for actuator faults compensation is designed based on the nonlinear proportional differential control and estimated fault information. Moreover, a self-healing controller for RCS on-line reconfiguration under compound fault is designed by determining the faulty RCS nozzle sequence. Finally, a typical full trajectory attitude tracking simulations are conducted, which verified effectiveness and reliability of the proposed method.