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A review on DFACS(I):System design and dynamics modeling

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Chinese Journal of Aeronautics 2024年第5期37卷 92-119页

作者： Bohan JIAO Qifan LIU Zhaohui DANG Xiaokui YUE Yonghe ZHANG Yuanqing XIA Li DUAN qinglei hu Chenglei YUE Pengcheng WANG Ming GUO Zhansheng DUAN Bing CUI Chu ZHANG Xiaodong SHAO School of Astronautics Northwestern Polytechnical UniversityXi’an 710072China Innovation Academy for Microsatellites Chinese Academy of SciencesShanghai 710699China School of Automation Beijing Institute of TechnologyBeijing 100081China Institute of Mechanics Chinese Academy of SciencesBeijing 710043China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Automation Science and Engineering Xi’an Jiaotong UniversityXi’an 710049China

The Drag-Free and Attitude Control System(DFACS)is a critical platform for various space missions,including high precision satellite navigation,geoscience and gravity field measurement,and space scientific experiments.This paper presents a comprehensive review of over sixty years of research on the design and dynamics model of DFACS.Firstly,we examine the open literature on DFACS and its applications in Drag-Free missions,providing readers with necessary background information on the field.Secondly,we analyze the system configurations and main characteristics of different DFACSs,paying particular attention to the coupling mechanism between the system configuration and dynamics model.Thirdly,we summarize the dynamics modeling methods and main dynamics models of DFACS from multiple perspectives,including common fundamentals and specific applications.Lastly,we identify current challenges and technological difficulties in the system design and dynamics modeling of DFACS,while suggesting potential avenues for future research.This paper aims to provide readers with a comprehensive understanding of the state-of-the-art in DFACS research,as well as the future prospects and challenges in this field.

关键词： Drag-Free DFACS System Design Dynamics Modeling Control design

Sliding-Mode-Based Attitude Tracking Control of Spacecraft Under Reaction Wheel Uncertainties

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IEEE/CAA Journal of Automatica Sinica 2023年第6期10卷 1475-1487页

作者： Wei Chen qinglei hu the School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China. The Beihang Hangzhou Innovation Institute Yuhang Hangzhou 310023China

The attitude tracking operations of an on-orbit spacecraft with degraded performance exhibited by potential actuator uncertainties(including failures and misalignments) can be extraordinarily challenging. Thus, the control law development for the attitude tracking task of spacecraft subject to actuator(namely reaction wheel) uncertainties is addressed in this paper. More specially, the attitude dynamics model of the spacecraft is firstly established under actuator failures and misalignment(without a small angle approximation operation). Then, a new non-singular sliding manifold with fixed time convergence and anti-unwinding properties is proposed, and an adaptive sliding mode control(SMC) strategy is introduced to handle actuator uncertainties, model uncertainties and external disturbances simultaneously. Among this, an explicit misalignment angles range that could be treated herein is offered. Lyapunov-based stability analyses are employed to verify that the reaching phase of the sliding manifold is completed in finite time, and the attitude tracking errors are ensured to converge to a small region of the closest equilibrium point in fixed time once the sliding manifold enters the reaching phase. Finally, the beneficial features of the designed controller are manifested via detailed numerical simulation tests.

关键词： Actuator failures actuator misalignment angles finite time sliding mode control(SMC) spacecraft attitude tracking

Neural network-based fault diagnosis for spacecraft with single-gimbal control moment gyros

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Chinese Journal of Aeronautics 2022年第7期35卷 261-273页

作者： Yuandong LI qinglei hu Xiaodong SHAO School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100083China Beihang Hangzhou Innovation Institute Yuhang Hangzhou 310023China School of Aeronautic Science and Engineering Beihang UniversityBeijing 100083China

This paper proposes a neural network-based fault diagnosis scheme to address the problem of fault isolation and estimation for the Single-Gimbal Control Moment Gyroscopes(SGCMGs)of spacecraft in a periodic orbit.To this end,a disturbance observer based on neural network is developed for active anti-disturbance,so as to improve the accuracy of fault diagnosis.The periodic disturbance on orbit can be decoupled with fault by resorting to the fitting and memory ability of neural network.Subsequently,the fault diagnosis scheme is established based on the idea of information fusion.The data of spacecraft attitude and gimbals position are combined to implement fault isolation and estimation based on adaptive estimator and neural network.Then,an adaptive sliding mode controller incorporating the disturbance and fault estimation results is designed to achieve active fault-tolerant control.In addition,the paper gives the proof of the stability of the proposed schemes,and the simulation results show that the proposed scheme achieves better diagnosis and control results than compared algorithm.

关键词： Control moment gyro Fault diagnosis Fault-tolerant control Neural networks Spacecraft attitude control

Adaptive fault-tolerant attitude tracking control for spacecraft with time-varying inertia uncertainties

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Chinese Journal of Aeronautics 2019年第3期32卷 674-687页

作者： qinglei hu Li XIAO Chenliang WANG School of Automation Science and Electrical Engineering Beihang University Sino-French Engineer School Beihang University

This paper is devoted to adaptive attitude tracking control for rigid spacecraft in the presence of parametric uncertainties, actuator faults and external disturbance. Specifically, a dynamic model is established based on one-tank spacecraft, which explicitly takes into account changing Center of Mass(CM). Then, a control scheme is proposed to achieve attitude tracking.Benefiting from explicitly considering the changing CM during the controller design process, the proposed scheme possesses good robustness to parametric uncertainties with less fuel consumption.Moreover, a fault-tolerant control algorithm is proposed to accommodate actuator faults with no need of knowing the actuators' fault information. Lyapunov-based analysis is provided and the closed-loop system stability is rigorously proved. Finally, numerical simulations are presented to illustrate the effectiveness of the proposed controllers.

关键词： Adaptive control Attitude tracking Changing center of mass Fault-tolerant Spacecraft

Secure motion control of micro-spacecraft using semi-homomorphic encryption

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Security and Safety

Security and Safety 2023年第4期2卷 34-48页

作者： Yongxia Shi Ehsan Nekouei qinglei hu Department of Electrical Engineering City University of Hong KongHong Kong 999077China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

This paper studies the secure motion control problem for micro-spacecraft systems.A novel semi-homomorphic encrypted control framework,consisting of a logarithmic quantizer,two uniform quantizers,and an encrypted control law based on the Paillier cryptosystem is developed.More specifically,a logarithmic quantizer is adopted as a digitizer to convert the continuous relative motion information to digital signals.Two uniform quantizers with different quantization sensitivities are designed to encode the control gain matrix and digitized motion information to integer values.Then,we develop an encrypted state-feedback control law based on the Paillier cryptosystem,which allows the controller to compute the control input using only encrypted data.Using the Lyapunov stability theory and the homomorphic property of the Paillier cryptosystem,we prove that all signals in the closed-loop system are uniformly ultimately bounded.Different from the traditional motion control laws of spacecraft,the proposed encrypted control framework ensures the security of the exchanged data over the communication network of the spacecraft,even when communication channels are eavesdropped by malicious adversaries.Finally,we verify the effectiveness of the proposed encrypted control framework using numerical simulations.

关键词： Spacecraft relative motion security protection encrypted control homomorphic encryption quantization

Event-triggered adaptive control for attitude tracking of spacecraft

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Chinese Journal of Aeronautics 2019年第2期32卷 454-462页

作者： Chenliang WANG Yun LI qinglei hu Jian huANG School of Automation Science and Electrical Engineering Beihang University Beijing Institute of Automatic Control Equipment

Plug-and-play technology is an important direction for future development of spacecraft and how to design controllers with less communication burden and satisfactory performance is of great importance for plug-and-play spacecraft. Considering attitude tracking of such spacecraft with unknown inertial parameters and unknown disturbances, an event-triggered adaptive backstepping controller is designed in this paper. Particularly, a switching threshold strategy is employed to design the event-triggering mechanism. By introducing a new linear time-varying model, a smooth function, an integrable auxiliary signal and a bound estimation approach, the impacts of the network-induced error and the disturbances are effectively compensated for and Zeno phenomenon is successfully avoided. It is shown that all signals of the closed-loop system are globally uniformly bounded and both the attitude tracking error and the angular velocity tracking error converge to zero. Compared with conventional control schemes, the proposed scheme significantly reduces the communication burden while providing stable and accurate response for attitude maneuvers. Simulation results are presented to illustrate the effectiveness of the proposed scheme.

关键词： Adaptive control Attitude tracking Event-triggered control Spacecraft Uncertainties

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目标机动补偿的动能拦截器增量式制导方法

北京航空航天大学学报 2024年第3期50卷 831-838页

作者：陈旸方艺忠韩拓胡庆雷北京航天长征飞行器研究所北京100076 北京航空航天大学航空科学与工程学院北京100191 杭州市北京航空航天大学国际创新研究院(北京航空航天大学国际创新学院) 杭州311115 北京航空航天大学自动化科学与电气工程学院北京100191

面向目标强机动、推力干扰、测量偏差的动能拦截器强抗扰末制导方法设计问题,提出一种目标机动补偿的大气层外动能拦截器增量式强抗扰末制导方法。通过回采推力传感信息、视线转率辅助微分信息,同时联合增量式制导方法与惯性时延的扰动... 详细信息

面向目标强机动、推力干扰、测量偏差的动能拦截器强抗扰末制导方法设计问题,提出一种目标机动补偿的大气层外动能拦截器增量式强抗扰末制导方法。通过回采推力传感信息、视线转率辅助微分信息,同时联合增量式制导方法与惯性时延的扰动估计方法,对目标机动等不确定性和内外部不确定性等带来的扰动进行实时补偿并融合至制导算法,从而实现复杂工况下拦截器对抗机动目标的制导系统扰动降级与鲁棒增强等目的。复杂工况下仿真结果表明:所提方法对强机动目标、测量偏差、推力干扰等多源扰动具有强抗扰能力,并且能够实现精确碰撞式拦截任务。

关键词：动能拦截器增量式制导鲁棒制导扰动补偿机动目标

Robust attitude coordinated control for spacecraft formation with communication delays

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Chinese Journal of Aeronautics 2017年第3期30卷 1071-1085页

作者： Jian ZHANG qinglei hu Danwei WANG Wenbo XIE Department of Control Science and Engineering Harbin Institute of Technology School of Automation Science and Electrical Engineering Beihang University School of Electrical and Electronic Engineering Nanyang Technological University College of Automation Harbin University of Science and Technology

In this paper,attitude coordinated tracking control algorithms for multiple spacecraft formation are investigated with consideration of parametric uncertainties,external disturbances,communication delays and actuator saturation.Initially,a sliding mode delay-dependent attitude coordinated controller is proposed under bounded external disturbances.However,neither inertia uncertainty nor actuator constraint has been taken into account.Then,a robust saturated delaydependent attitude coordinated control law is further derived,where uncertainties and external disturbances are handled by Chebyshev neural networks（CNN）.In addition,command filter technique is introduced to facilitate the backstepping design procedure,through which actuator saturation problem is solved.Thus the spacecraft in the formation are able to track the reference attitude trajectory even in the presence of time-varying communication delays.Rigorous analysis is presented by using Lyapunov-Krasovskii approach to demonstrate the stability of the closed-loop system under both control algorithms.Finally,the numerical examples are carried out to illustrate the efficiency of the theoretical results.

关键词： Actuator saturation Attitude control Communication delays Neural networks Spacecraft formation

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基于横截函数的欠驱动航天器姿态跟踪方法

航空学报 2024年第1期45卷 29-39页

作者：段超邵小东胡庆雷吴淮宁北京航空航天大学自动化科学与电气工程学院北京100191 北京航空航天大学航空科学与工程学院北京100191 天目山实验室杭州310023

针对航天器姿态跟踪任务,考虑一种配置2个独立动量交换型执行机构的欠驱动航天器,提出了一种基于横截函数的任意姿态轨迹跟踪控制律。利用三维特殊正交群SO(3)建立航天器姿态运动学方程,并基于动量守恒条件,将动力学方程与运动学统一写... 详细信息

针对航天器姿态跟踪任务,考虑一种配置2个独立动量交换型执行机构的欠驱动航天器,提出了一种基于横截函数的任意姿态轨迹跟踪控制律。利用三维特殊正交群SO(3)建立航天器姿态运动学方程,并基于动量守恒条件,将动力学方程与运动学统一写成以执行机构输出角动量为控制输入的降阶系统。利用横截条件与Lie代数秩条件构造基于SO(3)的横截函数,其本质为能够任意逼近平衡点的一个嵌入子流形,并基于横截函数与姿态误差建立降阶跟踪控制系统的伴随系统。针对伴随系统,提出了一种光滑静态反馈控制律,利用Morse函数证明了对于任意轨迹闭环系统的最终有界稳定性。进一步针对可行轨迹,基于零动态系统设计了横截函数的参数自调整律,使得在零动态时横截函数趋近跟踪系统的平衡点,证明了闭环系统具有指数稳定性。最后,通过数值仿真验证了提出控制器的有效性。

关键词：欠驱动航天器姿态控制 Lie群横截函数可行轨迹