卫星姿态控制系统的故障可诊断性评价研究

在不依赖任何诊断算法的前提下,对卫星姿态控制系统中传感器和执行器的故障可诊断性进行评价,旨在将提高系统故障诊断能力的工作重点前移到设计阶段.由于反馈控制的存在,导致故障会在整个系统中进行传播,使得单故障源表现出多异常征兆,这给闭环系统的故障诊断带来极大挑战.将故障视作扩展状态,并考虑模型不确定性,得到卫星姿态闭环控制系统的状态空间模型;根据可观测性判据,给出并证明考虑建模不确定性的加性故障和乘性故障可诊断性条件.所得相关结论可为卫星姿态控制系统设计提供理论参考依据.     

抗控制饱和的鲁棒非线性飞行控制方法

飞行器在大包线范围内作机动飞行时,其舵面和发动机易达到饱和,该现象不仅会对闭环系统的稳定性造成影响,而且会大大缩短发动机等关键部件的使用寿命。针对该问题,设计了一种抗饱和非线性飞行控制方法。首先,建立飞行器的严格反馈非线性模型。然后,采用自适应反步设计思想设计得到舵控和发动机转速控制指令,由径向基函数（RBF）网络对建模误差进行逼近。针对控制饱和问题,分别设计了相应的抗饱和动态补偿系统。通过建立闭环控制系统的李雅普诺夫函数,由稳定性理论确定得到RBF网络的更新权值和抗饱和动态补偿系统的结构参数,确保所设计的闭环控制系统全局稳定。最后,仿真结果表明,在出现控制饱和时,抗饱和动态补偿系统可对控制指令进行实时修正,帮助系统较快脱离饱和状态,系统饱和时间缩短了30%~60%,同时具有较高的指令跟踪精度。      

结构振动主动控制系统的非概率可靠性分析

为了解决结构主动振动控制系统的可靠性问题,考虑结构参数的不确定性,研究了结构振动主动控制系统可靠性分析的非概率方法.对不确定变量用区间数或区间向量进行描述,基于区间数学,提出了含区间不确定参数的闭环控制系统响应的计算方法,在此基础之上结合非概率可靠性分析方法,建立了适用于振动控制系统的非概率可靠性分析方法.该方法无需不确定量的概率信息,只需明确参数所在区间范围即可,对开环系统和闭环控制系统的可靠性分析与基于可靠性的控制器设计具有一定的理论意义.通过数值算例,将非概率可靠性分析方法与蒙特卡洛方法进行了比较,结果表明了本文所提方法的有效性和对复杂结构振动主动控制系统的适用性.      

SRAD-QFT鲁棒优化设计新方法

针对使用定量反馈理论进行控制系统设计时存在的鲁棒性度量等问题,结合随机鲁棒分析与设计原理,提出一种鲁棒优化设计新方法.该方法使用被控对象参数的统计信息对参数不确定性进行描述,基于闭环控制系统的蒙特卡罗仿真,将获得的闭环控制系统不稳定概率及各项性能指标的不满足概率作为闭环控制系统稳定鲁棒性和性能鲁棒性的度量,并在此基础上实现闭环控制系统的鲁棒优化设计.由某型超声速反舰导弹纵向运动控制系统的设计过程表明:该方法能够准确地描述被控对象的参数不确定性,有效解决控制系统的鲁棒性度量问题,适用于复杂控制系统的设计.     

Neural network-based sliding mode control for atmospheric-actuated spacecraft formation using switching strategy

This paper presents an adaptive neural networks-based control method for spacecraft formation with coupled translational and rotational dynamics using only aerodynamic forces. It is assumed that each spacecraft is equipped with several large flat plates. A coupled orbit-attitude dynamic model is considered based on the specific configuration of atmospheric-based actuators. For this model, a neural network-based adaptive sliding mode controller is implemented, accounting for system uncertainties and external perturbations. To avoid invalidation of the neural networks destroying stability of the system, a switching control strategy is proposed which combines an adaptive neural networks controller dominating in its active region and an adaptive sliding mode controller outside the neural active region. An optimal process is developed to determine the control commands for the plates system. The stability of the closed-loop system is proved by a Lyapunov-based method. Comparative results through numerical simulations illustrate the effectiveness of executing attitude control while maintaining the relative motion, and higher control accuracy can be achieved by using the proposed neural-based switching control scheme than using only adaptive sliding mode controller.     

Changes in hyperspectral reflectance signatures of lettuce leaves in response to macronutrient deficiencies

The adaptation of specific remote sensing and hyperspectral analysis techniques for the determination of incipient nutrient stress in plants could allow early detection and precision supplementation for remediation, important considerations for minimizing mass of advanced life support systems on space station and long term missions. This experiment was conducted to determine if hyperspectral reflectance could be used to detect nutrient stress in Lactuca sativa L. cv. Black Seeded Simpson. Lettuce seedlings were grown for 90 days in a greenhouse or growth chamber in vermiculite containing modified Hoagland’s nutrient solution with key macronutrient elements removed in order to induce a range of nutrient stresses, including nitrogen, phosphorus, potassium, calcium, and magnesium. Leaf tissue nutrient concentrations were compared with corresponding spectral reflectances taken at the end of 90 days. Spectral reflectances varied with growing location, position on the leaf, and nutrient deficiency treatment. Spectral responses of lettuce leaves under macronutrient deficiency conditions showed an increase in reflectance in the red, near red, and infrared wavelength ranges. The data obtained suggest that spectral reflectance shows the potential as a diagnostic tool in predicting nutrient deficiencies in general. Overlapping of spectral signatures makes the use of wavelengths of narrow bandwidths or individual bands for the discrimination of specific nutrient stresses difficult without further data processing.     

Optimal spacecraft rendezvous using the combination of aerodynamic force and Lorentz force

This paper presents a propellantless spacecraft rendezvous method by using the optimal combination of aerodynamic force and Lorentz force. Aerodynamic force is provided by the rotations of the plates attached to the spacecraft, and Lorentz force is achieved by modulating spacecraft's electrostatic charge. Considering the limitation of the charging level of the spacecraft and physical constraints of the plates system, an optimal open-loop rendezvous trajectory is designed, which aims to minimize the energy consumed to actuate the hybrid system. The rotation rates of the plates and the electrostatic charge are constrained in the optimization problem, which is solved via the Gauss pseudospectral method. To track the open-loop trajectory in the presence of external perturbations, a novel adaptive nonsingular terminal sliding mode controller is designed. The stability of the closed-loop system is proved by the Lyapunov-based method. Several numerical examples are conducted to verify the validity of both the open-loop and closed-loop control strategy.     

无刷直流力矩电动机双闭环控制策略仿真分析

针对直接驱动阀(DDV,Direct Drive Valve)伺服系统存在负载扰动和经典的"三环"结构不能满足DDV伺服系统快速性要求的问题,采用双闭环控制系统.对位置环+速度环和位置环+电流环两种双闭环系统进行比较,在频域内设计和优化调节器的控制参数.仿真结果表明:双闭环系统均具有较好的稳定性和动态跟踪品质,能有效地克服负载扰动的影响.在系统阻尼系数很小的情况下,位置环+速度环系统的负载适应性更好,位置环+电流环系统快速性更好,与理论分析结果符合.      

环路参数对数字闭环加速度计动态特性影响

数字闭环石英挠性加速度计在纯积分控制器下带宽仅有10 Hz左右,需要通过调整伺服电路结构参数来改善系统动态性能.针对这一问题,且为保证系统的无差性,设计了位置式比例积分控制器.建立闭环系统数学模型,利用隐函数求解的方法,得到了环路参数（包括采样点数、比例系数及积分系数）与系统闭环带宽的关系,同时分析了环路参数对系统稳定性及静态精度的影响.搭建系统实验样机并进行闭环带宽及零偏稳定性测试.结果表明,闭环系统带宽与环路参数成正相关关系,其中改变比例系数对系统动态特性的影响最为显著.实验结果与理论分析一致,为数字闭环加速度计动态特性调整提供理论依据及实验指导.      

核磁共振陀螺高精度磁场驱动技术

核磁共振陀螺（NMRG）是利用激光与核磁共振气室中的碱金属原子和惰性气体原子的相互作用使核子以拉莫尔频率进动,并通过磁场驱动技术对气室磁场实现闭环控制和对剩磁进行补偿来维持核子的共振状态,进而能够检测载体的角速度信息。磁场驱动技术作为磁场闭环控制的重要部分,直接影响核磁共振陀螺的磁场控制精度和稳定性。为了解决核磁共振陀螺磁场控制精度和稳定性不足的关键问题,采用交直流分离设计的压控电流源方案改善磁场驱动问题,基于噪声分析理论对电路进行建模和噪声分析,并通过实验验证对三轴线圈的横向磁场控制精度达±0.046 2 nT,纵向磁场控制精度为±0.003 1 nT,实验证明该技术方案具有较强的工程应用价值。      

Novel sensor technology for monitoring and control of critical plant nutrient parameters.

A novel dielectric sensor technology has been developed for monitoring and control of plant nutrient delivery systems as part of NASA's Controlled Ecological Life Support System (CELSS) program. A unique measurement phenomenon was discovered in which the electrostatic field is shunted to a third terminal of the sensor, resulting in a much greater sensitivity to changes in the complex dielectric properties of the nutrient solution. Based on this phenomenon, a small, flexible, thin-film shunting dielectric sensor (SDS) was designed to provide low-frequency, non-invasive measurement of both the thickness and nutrient concentration of the layer of solution on a plant growth surface. Test results indicate a sensitivity of +/- 0.05mm in layer thickness while characterization of the ability to measure nutrient concentration continues. The development plan for this sensor is presented and other applications are discussed.     

Recycling of inorganic nutrients for hydroponic crop production following incineration of inedible biomass.

The goal of resource recovery in a regenerative life support system is maintenance of product quality to sure support of reliable and predictable levels of life support function performance by the crop plant component. Further, these systems must be maintained over extended periods of time, requiring maintenance of nutrient solutions to avoid toxicity and deficiencies. The focus of this study was to determine the suitability of the ash product following incineration of inedible biomass as a source of inorganic nutrients for hydroponic crop production. Inedible wheat biomass was incinerated and ash quality characterized. The incinerator ash was dissolved in adequate nitric acid to establish a consistent nitrogen concentration is all nutrient solution treatments. Four experimental nutrient treatments were included: control, ash only, ash supplemented to match the control treatment, and ash only quality formulated with reagent grade chemicals. When nutrient solutions were formulated using only ash following incineration of inedible biomass, a balance in solution is established representing elemental retention following incineration and nutrient proportions present in the original biomass. The resulting solution is not identical to the control. This imbalance resulted in a suppression of crop growth. When the ash is supplemented with reagent grade chemicals to establish the same balance as in the control--growth is identical to the control. The ash appears to carry no phytotoxic materials. Growth in solution formulated with reagent grade chemicals but matching the quality of the ash only treatment resulted in similar growth to that of the ash only treatment. The ash product resulting from incineration of inedible biomass appears to be a suitable form for recycle of inorganic nutrients to crop production.     

航天器近距离相对运动的轨迹偏差分析

利用相对可达区(RRD)的概念对航天器在脉冲闭环控制方式下相对运动的轨迹偏差进行了分析。相对可达区是对航天器可能出现位置集合的一种几何描述。当航天器的状态误差服从高斯分布时,相对可达区可表示为随时间变化的误差椭球的集合。考虑航天器飞行过程中存在的不确定性因素,基于闭环控制系统下线性化的相对运动动力学模型,采用协方差分析描述函数法(CADET)对定义航天器误差椭球的协方差矩阵进行了分析,给出了根据协方差矩阵求解相对可达区包络的计算方法。通过将开环和闭环控制系统下的相对可达区包络与1 000次的Monte Carlo仿真结果进行比较,证明了偏差分析方法的适用性与有效性。     

Density and composition of microorganisms during long-term (418 day) growth of potato using biologically reclaimed nutrients from inedible plant biomass.

A study evaluating alternative methods for long term operation of biomass production systems was recently completed at the Kennedy Space Center (KSC). The 418-day study evaluated repeated batch versus mixed-aged production of potato grown on either standard 1/2-strength Hoagland's nutrient solution or solutions including nutrients recycled from inedible plant material. The long term effects of closure and recycling on microbial dynamics were evaluated by monitoring the microbial communities associated with various habitats within the plant growth system (i.e., plant roots, nutrient solution, biofilms within the hydroponic systems, atmosphere, and atmospheric condensate). Plate count methods were used to enumerate and characterize microorganisms. Microscopic staining methods were used to estunate total cell densities. The primary finding was that the density and composition of microbial communities associated with controlled environmental plant growth systems are stable during long term operation. Continuous production resulted in slightly greater stability. Nutrient recycling, despite the addition of soluble organic material from the waste processing system, did not significantly increase microbial density in any of the habitats.     

极小化相位误差加权间断有限元辛方法

对于线性Hamilton系统,辛差分方法可以保持系统的辛结构,有限元方法可以保证系统的辛性质并具有能量守恒特性。但辛差分方法和有限元方法时域上仍然存在相位误差,使得计算的精度不是很理想。提出极小化相位误差加权间断有限元辛方法（WDG-PF）,该方法是辛方法,同时,对Hamilton系统的求解具有极小的相位误差。数值显示该方法可以保证Hamilton系统的能量守恒性。WDG-PF方法解决了时间有限元方法（TFE）存在的相位漂移现象,同时指出间断有限元方法可以通过加权处理达到保辛要求。WDG-PF方法相较于针对相位误差设计的计算格式分数步对称辛算法（FSJS）、辛Runge-Kutta-Nystrom（RKN）格式以及辛分块Runge-Kutta（SPRK）等方法,WDG-PF显著地减少相位误差,和显著提高Hamilton系统能量精度的优点。相位误差和能量误差几乎达到计算机精度。同时单元内部具有超收敛现象。特别针对高低混频Hamilton系统,传统方法很难在固定的步长下同时实现对高频和低频信号的精确仿真,WDG-PF方法则可以在大步长下同时实现对低频信号和高频信号的高精度仿真。数值显示,WDG-PF方法切实有效。      

Biomass Production System (BPS) plant growth unit.

The Biomass Production System (BPS) was developed under the Small Business Innovative Research (SBIR) program to meet science, biotechnology and commercial plant growth needs in the Space Station era. The BPS is equivalent in size to a double middeck locker, but uses its own custom enclosure with a slide out structure to which internal components mount. The BPS contains four internal growth chambers, each with a growing volume of more than 4 liters. Each of the growth chambers has active nutrient delivery, and independent control of temperature, humidity, lighting, and CO2 set-points. Temperature control is achieved using a thermoelectric heat exchanger system. Humidity control is achieved using a heat exchanger with a porous interface which can both humidify and dehumidify. The control software utilizes fuzzy logic for nonlinear, coupled temperature and humidity control. The fluorescent lighting system can be dimmed to provide a range of light levels. CO2 levels are controlled by injecting pure CO2 to the system based on input from an infrared gas analyzer. The unit currently does not scrub CO2, but has been designed to accept scrubber cartridges. In addition to providing environmental control, a number of features are included to facilitate science. The BPS chambers are sealed to allow CO2 and water vapor exchange measurements. The plant chambers can be removed to allow manipulation or sampling of specimens, and each chamber has gas/fluid sample ports. A video camera is provided for each chamber, and frame-grabs and complete environmental data for all science and hardware system sensors are stored on an internal hard drive. Data files can also be transferred to 3.5-inch disks using the front panel disk drive.     

Potato growth in a porous tube water and nutrient delivery system.

Potato (Solanum tuberosum L.) cv. 'Norland', vegetative growth and tuber productivity grown in the porous water and nutrient delivery system (PTNDS) developed by the Wisconsin Center for Space Automation and Robotics were compared with the vegetative growth and tuber productivity of plants grown in a peat:vermiculite potting mixture (PT/VR). The plants were grown at 12, 16, and 24-h light periods, 18 degrees C constant temperature, 70% relative humidity, and 300 micromol m-2 s-1 photosynthetic photon flux. Canopy height of plants grown in the PT/VR system was taller than that of plants grown in the PTNDS system. Canopy height differences were greatest when the plants were grown under a 24-h photoperiod. Leaf and stem dry masses were similar for plants grown in the two systems under the 12-h photoperiod. Under the 24-h photoperiod, leaf and stem dry masses of plants grown in the PT/VR system were more than 3 times those of plants grown in the PTNDS system. Tuber dry masses were similar for plants grown in the two systems under the 12-h photoperiod. Under the 24 h-photoperiod, tuber dry weights of plants grown in the PT/VR system were more than twice those of plants grown in the PTNDS system. A slightly higher harvest index (ratio of tuber weight to leaf plus stem weight) was noted for the plants grown in the PTNDS than for the plants grown in the PT/VR system. Plants grown in the PTNDS system at the 24-h photoperiod matured earlier than plants grown at this photoperiod in the PT/VR system. Vegetative growth and tuber productivity of plants grown under the 16-h photoperiod generally were intermediate to those noted for plants grown under the 12 and 24-h photoperiods. These results indicate that potato plants grown in a PTNDS system may require less plant growing volume, mature in a shorter time, and likely produce more tubers per unit area compared with plants grown in the PT/VR system. These plant characteristics are a distinct advantage for a plant growing unit of a CELSS.     

A root moisture sensor for plants in microgravity.

Development of components for bioregenerative life-support systems is a vital step toward long-term space exploration. The culturing of plants in a microgravity environment may be optimized by the use of appropriate sensors and controllers. This paper describes a sensor developed for determining the amount of fluid (nutrient solution) available on the surface of a porous ceramic nutrient delivery substrate to the roots of conventional crop plants. The sensor is based on the change in thermal capacitance and thermal conductance near the surface as the moisture content changes. The sensor could be employed as a data acquisition and control sensor to support the automated monitoring of plants grown in a microgravity environment.     

Evaluation of a regional real-time precise positioning system based on GPS/BeiDou observations in Australia

The performance of real-time (RT) precise positioning can be improved by utilizing observations from multiple Global Navigation Satellite Systems (GNSS) instead of one particular system. Since the end of 2012, BeiDou, independently established by China, began to provide operational services for users in the Asia-Pacific regions. In this study, a regional RT precise positioning system is developed to evaluate the performance of GPS/BeiDou observations in Australia in providing high precision positioning services for users. Fixing three hourly updated satellite orbits, RT correction messages are generated and broadcasted by processing RT observation/navigation data streams from the national network of GNSS Continuously Operating Reference Stations in Australia (AUSCORS) at the server side. At the user side, RT PPP is realized by processing RT data streams and the RT correction messages received. RT clock offsets, for which the accuracy reached 0.07 and 0.28?ns for GPS and BeiDou, respectively, can be determined. Based on these corrections, an accuracy of 12.2, 30.0 and 45.6?cm in the North, East and Up directions was achieved for the BeiDou-only solution after 30 min while the GPS-only solution reached 5.1, 15.3 and 15.5?cm for the same components at the same time. A further improvement of 43.7, 36.9 and 45.0 percent in the three directions, respectively, was achieved for the combined GPS/BeiDou solution. After the initialization process, the North, East and Up positioning accuracies were 5.2, 8.1 and 17.8?cm, respectively, for the BeiDou-only solution, while 1.5, 3.0, and 4.7?cm for the GPS-only solution. However, we only noticed a 20.9% improvement in the East direction was obtained for the GPS/BeiDou solution, while no improvements in the other directions were detected. It is expected that such improvements may become bigger with the increasing accuracy of the BeiDou-only solution.     

考虑作动器速率饱和的人机闭环系统稳定域

针对作动器速率饱和引起的Ⅱ型驾驶员诱发振荡(PIO,Pilot Induced Oscillations)严重威胁先进战机飞行安全的问题,研究了计及作动器速率饱和的人机闭环系统稳定域.建立了考虑作动器速率饱和的人机闭环系统非线性模型,引入增广状态变量以及饱和度函数处理速率饱和环节,应用椭球体不变集估计人机闭环系统的稳定域,得到了稳定域估计的一般算法.通过时域仿真研究了所估计的稳定域的保守性,研究了驾驶员操纵增益以及作动器速率饱和值对稳定域的影响.结果表明:稳定域法物理意义清晰、结果直观,可用于人机闭环系统稳定性的评估.研究结果可为先进战机飞行控制系统的设计提供理论依据.