CN119511700A - Ultra-low frequency elastic adaptive fault-tolerant attitude stabilization control method and system for launch vehicles - Google Patents

Ultra-low frequency elastic adaptive fault-tolerant attitude stabilization control method and system for launch vehicles Download PDF

Info

Publication number
CN119511700A
CN119511700A CN202411503905.0A CN202411503905A CN119511700A CN 119511700 A CN119511700 A CN 119511700A CN 202411503905 A CN202411503905 A CN 202411503905A CN 119511700 A CN119511700 A CN 119511700A
Authority
CN
China
Prior art keywords
frequency
signal
elastic
adaptive
filter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202411503905.0A
Other languages
Chinese (zh)
Inventor
张智
王紫扬
容易
胡晓军
邓新宇
何兆伟
彭越
朱平平
张普卓
袁晗
刁尹
赵永志
殷笑尘
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Astronautical Systems Engineering
Original Assignee
Beijing Institute of Astronautical Systems Engineering
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Institute of Astronautical Systems Engineering filed Critical Beijing Institute of Astronautical Systems Engineering
Priority to CN202411503905.0A priority Critical patent/CN119511700A/en
Publication of CN119511700A publication Critical patent/CN119511700A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)

Abstract

The invention relates to a carrier rocket ultra-low frequency elastic self-adaptive fault-tolerant attitude stabilization control method and system, which belong to the fields of carrier rocket overall design, carrier rocket dynamics and control, and the invention provides a double-center frequency self-adaptive filter for the first time, which can simultaneously and parallelly identify two-order elastic mode frequencies, thoroughly avoid the frequency crossing problem and has a better application effect on processing the whole rocket two-order and three-order elastic mode self-adaptive suppression problem; in addition, unlike the conventional series notch filtering thought, the invention provides an elastic suppression strategy based on an additive compensation thought, one path of compensation signal is added on the basis of the original control loop, the influence of the loop on the original control system scheme can be controlled through means such as amplitude limiting, the safety and stability of the control loop have good application foundation, the engineering application prospect is good, and the fault tolerance adaptability to the design difference of the heaven and earth and the arrow dynamic characteristic change under faults is good.

Description

Carrier rocket ultralow frequency elastic self-adaptive fault-tolerant attitude stability control method and system
Technical Field
The invention relates to a carrier rocket ultra-low frequency elastic self-adaptive fault-tolerant attitude stabilization control method and system, and belongs to the fields of carrier rocket overall design, carrier rocket dynamics and control.
Background
The large liquid binding carrier rocket is influenced by propellant shaking, rocket body elastic vibration and other strong external interference including aerodynamic force in the flight process, and the attitude control of the large liquid binding carrier rocket has the problems of multi-mode coupling, serious channel crosslinking and the like. As the size of the carrier rocket increases, the slenderness ratio increases, and the first-order elastic modal frequency of the rocket body decreases sharply. Taking a series of rocket binding configurations as an example, the elastic frequency reaches the lowest level of a large-scale carrier in the world, and the stable control of the middle-low frequency rigid shaking bullet mode becomes a design problem.
Because of the space-ground difference and the limitation of ground test conditions, model parameters cannot be accurately predicted, ground design deviation values are conservative, the complexity of the controller is improved and the performance of the controller is lost by adapting a set of controllers to various deviation combination working conditions of a full flight section, and in addition, along with the technical progress, great engineering launching tasks put higher requirements on the reliability and safety of a carrier, and a rocket system needs to have fault adaptation capability for normal operation of a first time of faults. In summary, the design of the attitude control system of the fourth-generation carrier rocket needs to have stronger deviation adaptability and fault tolerance capability on the basis of meeting the performance requirements of the traditional system, and enough stability margin is reserved to adapt to uncertainty such as nonlinearity, channel crosslinking, unmodeled interference and the like.
The adaptive notch filter applied in the current engineering can only process the adaptive filtering of the first-order center frequency, and the suppression of the multi-order elastic signals is realized by the filter in series connection, but the processing method cannot avoid the cross jump of the center frequency, and the unstable center frequency of the notch filter can influence the filtering effect and even influence the system stability in the time period of the frequency cross jump. Therefore, the invention provides the self-adaptive attitude control method suitable for the ultralow frequency elastic control of the carrier rocket, and compared with the traditional control method, the self-adaptive attitude control method has stronger adaptability to dynamic world inconsistency and typical power system faults.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a carrier rocket ultralow frequency elasticity self-adaptive fault-tolerant attitude stabilization control method and system, which solve the problem that carrier rocket ultralow frequency elasticity control cannot be designed.
The above object of the present invention is mainly achieved by the following technical solutions:
a carrier rocket ultralow frequency elastic self-adaptive fault-tolerant attitude stabilization control method comprises the following steps:
removing rigid body motion information in the identification signal;
filtering the identification signal from which the rigid motion information is removed, filtering out low-frequency components and high-frequency components, and reserving information in a required frequency band;
For the identification signal after the filtering processing, updating parameters of the double-center frequency self-adaptive notch filter by using a recursive least square algorithm with forgetting factors to obtain the two-order modal frequency with highest energy in the identification signal;
The method for updating or maintaining the frequency of the two-order modal frequency comprises the steps that when the vibration magnitude is larger than a required value and the change rate of the modal frequency is smaller than the required value, the notch filter adopts the identification frequency of the current beat, otherwise, the notch filter adopts the identification frequency of the previous beat;
generating a reference signal by using the updated or maintained two-order modal frequency, and generating an elastic compensation signal by using a minimum mean square error adaptive filtering algorithm according to the reference signal;
and compensating the elastic compensation signal into a swing angle control instruction to realize stable control of the arrow body self-adaptive fault-tolerant posture.
In the above carrier rocket ultra-low frequency elastic self-adaptive fault-tolerant attitude stabilization control method, the removing rigid motion information in the identification signal includes:
If the carrier rocket is provided with a plurality of sets of rate gyroscopes, subtracting angular velocity information measured by any two rate gyroscopes arranged at different positions, and removing rigid body motion signals;
If the carrier rocket is only provided with one set of rate gyro, subtracting the angular velocity calculated by using the inertial group from the angular velocity information measured by the rate gyro, and removing a rigid body motion signal;
If the carrier rocket is not provided with the rate gyro, the inertial component is used for calculating the angular velocity and the rigid motion signal is filtered through a high-pass filter.
In the carrier rocket ultra-low frequency elastic self-adaptive fault-tolerant attitude stabilization control method, the identification signal from which the rigid motion information is removed is subjected to filtering treatment by adopting a band-pass filter, wherein the band-pass filter has the following form:
Wherein, B=ω high-ωlow,ωlow is the lower boundary frequency of the band-pass filter reserve band, ω high is the upper boundary frequency of the band-pass filter reserve band, and s is a pull-varying complex frequency domain variable.
In the above carrier rocket ultra-low frequency elastic self-adaptive fault-tolerant attitude stabilization control method, updating parameters of a dual-center frequency self-adaptive notch filter by using a recursive least square algorithm with forgetting factors to obtain the two-order modal frequency with the highest energy in the identification signal, comprising:
(1) Initializing a correlation matrix, namely phi (0) =delta I, wherein delta is a regularization parameter, and I is a unit diagonal matrix;
(2) Updating the weight matrix to input a correlation matrix phi (n) according to the identification signal after the filtering treatment, wherein a recurrence formula of the correlation matrix phi (n) is as follows:
wherein, lambda is an exponentially weighted forgetting factor, lambda is a number close to 1 but less than 1, wherein x (n), x (n-1), x (n-2), x (n-3) are the outputs of the pole parts of the filters of the nth beat, the n-1 th beat, the n-2 nd beat and the n-3 th beat respectively;
(3) Updating a cross-correlation vector z (n) between the weight input and the expected response according to the filtered identification signal, wherein the cross-correlation vector z (n) recursively updates the formula as follows:
wherein x (n-4) is the output of the filter pole portion of the nth-4 beat;
(4) Updating the recursive least squares weight vector based on the correlation matrix Φ (n) and the cross-correlation vector z (n) The update formula is:
(5) Based on recursive least squares weight vectors The characteristic parameters a 1(n),a2 (n) of the wave trap are calculated, and the calculation formula is as follows:
and further obtaining the two-order modal frequency identified by the filter, wherein the expression is as follows:
Where Δt is the sampling time.
In the carrier rocket ultra-low frequency elastic self-adaptive fault-tolerant attitude stabilization control method, at least one of the following conditions is satisfied:
Regularization parameter delta is related to signal-to-noise ratio, small value is taken when signal-to-noise ratio is high, larger value is taken when signal-to-noise ratio is low, and delta is 1 multiplied by 10 -4;
The smaller the value of the index weighted forgetting factor lambda is, the faster the forgetting is, the smoother the identification frequency is, and the value of lambda is 0.95-0.99;
The sampling time Δt takes the control period of 0.02s.
In the carrier rocket ultra-low frequency elastic self-adaptive fault-tolerant attitude stabilization control method, the vibration magnitude is judged by adopting an output value y s of a frequency spectrum damper or adopting an amplitude value y (n) of a frequency identification input signal.
In the carrier rocket ultra-low frequency elastic self-adaptive fault-tolerant attitude stabilization control method, the updated or maintained two-order modal frequency is utilized to generate a reference signal by adopting the following formula:
wherein d (n) is the reference signal of the nth time step, A is the reference signal amplitude, For the updated or maintained two-order mode frequency, T is time, deltaT is time taken, and Deltais the sampling pulse function.
In the carrier rocket ultralow frequency elastic self-adaptive fault-tolerant attitude stabilization control method, the generating of the elastic compensation signal by utilizing the minimum mean square error self-adaptive filtering algorithm according to the reference signal comprises the following steps:
(1) Defining weight vectors
Wherein M is the order of the filter, and the weight vector is initialized
(2) Calculating an estimated error e (n) of the input signal and the output signal:
e(n)=u(n)-δek(n)
wherein e (n) is the error signal of the nth time step, delta ek (n) is the frequency of the nth time step U (n) is the residual elastic signal of the information filtered by the dual center frequency filter subtracted from the filtered identification signal, and is the Mx 1 input vector of the nth time step;
(3) According to the weight vector And error signal e (n), calculate the recurrence weight vector that the random gradient descends, weight vector recurrence formula is:
w(n+1)=w(n)+μu(n)e(n)
Wherein μ is a calculation step size;
(4) Calculating the filter output of the n+1th time step based on the reference signal d (n):
δek(n+1)＝wT(n)d(n)
Wherein, delta ek (n+1) is the frequency of the n+1th time step is A compensation signal for the kth order elasticity of (a); T is the transpose.
An ultra-low frequency elastic self-adaptive fault-tolerant attitude stabilization control system for a carrier rocket, comprising:
the information removing module is used for removing rigid motion information in the identification signal;
the filtering module is used for filtering the identification signal from which the rigid motion information is removed, filtering out low-frequency components and high-frequency components, and reserving information in a required frequency band;
the modal frequency acquisition and self-adaptive filtering module is used for updating parameters of the double-center frequency self-adaptive notch filter by using a recursive least square algorithm with forgetting factors aiming at the identification signal after filtering processing to obtain the two-order modal frequency with highest energy in the identification signal;
the frequency updating or maintaining module is used for updating or maintaining the frequency of the two-order modal frequency, and the method is that when the vibration magnitude is larger than a required value and the change rate of the modal frequency is smaller than the required value, the notch filter adopts the identification frequency of the current beat, otherwise, the notch filter adopts the identification frequency of the previous beat;
the compensation signal generation module is used for generating a reference signal by using the updated or maintained two-order modal frequency, and generating an elastic compensation signal by using a minimum mean square error self-adaptive filtering algorithm according to the reference signal;
And the signal compensation module compensates the elastic compensation signal into a swing angle control instruction to realize stable control of the arrow body self-adaptive fault-tolerant posture.
A computer device comprising a memory, a processor and a computer program stored on the memory, the processor executing the computer program to perform the steps of the method described above.
Compared with the prior art, the invention at least comprises the following beneficial effects:
(1) The invention provides a double-center frequency self-adaptive filter for the first time, can simultaneously and parallelly identify the two-order elastic mode frequency, thoroughly avoids the frequency crossing problem, has a good application effect on processing the whole rocket two-order and three-order elastic mode self-adaptive suppression problem, and in addition, unlike the traditional series notch filtering thought, the embodiment of the invention provides an elastic suppression strategy based on the additive compensation thought, adds one path of compensation signal on the basis of the original control loop, can control the influence of the loop on the scheme of the original control system through means such as amplitude limiting, has a good application base on safety and stability, and has good engineering application prospect.
(2) The invention relates to a self-adaptive attitude control method suitable for ultralow frequency elastic control of a carrier rocket, which has better fault tolerance adaptability to space-earth design differences and rocket body dynamic characteristic changes under faults.
Drawings
FIG. 1 is a schematic diagram of a control scheme in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a step four spectral damper according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a fourth frequency update and hold module according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating simulation verification of an algorithm in an embodiment of the present invention;
FIG. 5 is a diagram illustrating simulation verification of an algorithm in an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the attached drawings and to specific embodiments:
As shown in fig. 1, the ultra-low frequency elastic self-adaptive fault-tolerant attitude stabilization control method for the carrier rocket in the embodiment of the invention specifically comprises the following steps:
Step one, removing a rigid body trend item;
To ensure accuracy of frequency estimation, rigid motion information in the identification signal needs to be eliminated, and only elastic information is reserved.
If the carrier rocket is provided with a plurality of sets of rate gyroscopes, subtracting angular velocity information measured by any two rate gyroscopes arranged at different positions, and removing rigid body motion signals;
If the carrier rocket is only provided with one set of rate gyro, subtracting the angular velocity calculated by using the inertial group from the angular velocity information measured by the rate gyro, and removing a rigid body motion signal;
If the carrier rocket is not provided with the rate gyro, the inertial component is used for calculating the angular velocity and the rigid motion signal is filtered through a high-pass filter.
And step two, filtering the identification signal from which the rigid motion information is removed according to the design prior information.
The band-pass filter is used for preprocessing the identification input data, low-frequency and high-frequency components are filtered, only information in a required frequency band is reserved, and accuracy and continuity of frequency identification can be effectively improved. The bandpass filter is of the form:
in the formula, B=ω high-ωlow,ωlow is the lower boundary frequency of the band-pass filter reserve band, ω high is the upper boundary frequency of the band-pass filter reserve band, and s is a pull-varying complex frequency domain variable.
Step three, updating parameters of the dual-center frequency self-adaptive notch filter by using a Recursive Least Squares (RLS) algorithm with forgetting factors according to the filtered identification signalsFurther identifying the two-order modal frequency with the highest energy in the signal;
the recursive least square algorithm comprises the following calculation flows:
(1) The algorithm is initialized, wherein a cross-correlation vector z (0) =0 is initialized, a correlation matrix is initialized, phi (0) =delta I is initialized, delta is a regularization parameter, the value is set to be related to the signal to noise ratio, a small value is taken when the signal to noise ratio is high, a larger value is taken when the signal to noise ratio is low, the value is 1 multiplied by 10 -4 in the embodiment, and I is a unit diagonal matrix.
(2) Updating a weight matrix input correlation matrix phi (n) according to the identification signal after the filtering treatment, and a correlation matrix recurrence formula:
wherein, lambda is an exponentially weighted forgetting factor, lambda is close to 1, but is smaller than 1, lambda is smaller and forgets faster, the identification frequency is smoother, and the values of x (n), x (n-1), x (n-2) and x (n-3) are respectively the outputs of pole parts of the filters of the nth beat, the nth-1 beat, the nth-2 beat and the nth-3 beat.
(3) According to the filtered identification signal, updating a cross-correlation vector z (n) between the weight input and the expected response, wherein a z (n) recursion updating formula is as follows:
where x (n-4) is the output of the pole portion of the filter at the n-4 th beat.
(4) Updating the recursive least squares weight vector based on the correlation matrix Φ (n) and the cross-correlation vector z (n)The update formula is:
(5) From recursive least squares weight vectors The trap characteristic parameter a 1(n),a2 (n) is obtained through calculation, and the calculation formula is as follows:
and further obtaining the two-order modal frequency identified by the filter, wherein the expression is as follows:
where Δt is the sampling time, and the control period is 0.02s in this embodiment. And outputting the identification frequency result according to the ascending order.
And step four, frequency updating or maintaining is carried out on the two-order modal frequency.
When the vibration magnitude of the rocket is smaller, the frequency identification module can identify inelastic signals, signal components in a rocket attitude control loop are complex, and the vibration frequency identification value is unstable. Thus, the following improved strategy is adopted for adaptive notch filter control:
When the vibration magnitude is larger than the required value and the change rate of the modal frequency is smaller than the required value, the notch frequency of the notch filter adopts the current modal frequency, otherwise, the notch frequency of the notch filter adopts the modal frequency of the previous beat, wherein the change rate of the modal frequency is the difference value of the modal frequency of the current beat and the modal frequency of the previous beat divided by the time period, and the frequency updating and maintaining module is shown in a schematic diagram of fig. 3.
The vibration magnitude can be determined by using the output value y s of a frequency spectrum damper, the form of the frequency spectrum damper is shown in fig. 2, and the amplitude |y (n) | of the input signal can also be identified by using the frequency. The criterion for judging whether the frequency estimation value is stable or not is to judge the magnitude of the frequency increment.
Generating a reference signal by using the updated or maintained two-order modal frequency, wherein the formula is as follows:
Wherein d (n) is the reference signal of the nth time step, A is the reference signal amplitude, For the updated or maintained two-order mode frequency, T is time, deltaT is time taken, and Deltais the sampling pulse function.
Generating frequency to be using least mean square error (LMS) adaptive filtering algorithmA compensation signal delta ek for the kth order elasticity of (a);
The calculation flow of the LMS algorithm is as follows:
(1) Defining weight vectors
Wherein M represents the filter order, the value M=5 in this embodiment, initializing the weight vector
(2) Calculating an estimated error e (n) of the input signal and the output signal:
e(n)=u(n)-δek(n)
wherein e (n) is the error signal of the nth time step, delta ek (n) is the frequency of the nth time step U (n) is the residual elastic signal of the information filtered by the double-center frequency filter subtracted from the filtered identification signal, and is the Mx 1 input vector of the nth time step;
(3) According to the weight vector And error signal e (n), calculate the recurrence weight vector that the random gradient descends, weight vector recurrence formula is:
w(n+1)=w(n)+μu(n)e(n)
wherein mu is the calculated step length;
(4) From the reference signal d (n), the filter output for the n+1th time step is calculated:
δek(n+1)＝wT(n)d(n)
Wherein, delta ek (n+1) is the frequency of the n+1th time step is A compensation signal for the kth order elasticity of (a); T is the transpose.
And step six, calculating the swing angle compensation instructions delta e1 and delta e2 by adopting the algorithm of the step five for the two-order characteristic frequencies identified in the step three and the step four. And compensating the elastic compensation signals delta e1 and delta e2 into a control swing angle instruction, thereby realizing the self-adaptive fault-tolerant attitude stable control of the elastic vibration of the rocket body. The simulation verification conditions of the control method provided by the embodiment of the invention are shown in fig. 4 and 5, and the self-adaptive control strategy can effectively improve the robustness of the system.
The invention also provides a carrier rocket ultralow frequency elastic self-adaptive fault-tolerant attitude stabilization control system, which comprises:
the information removing module is used for removing rigid motion information in the identification signal;
the filtering module is used for filtering the identification signal from which the rigid motion information is removed, filtering out low-frequency components and high-frequency components, and reserving information in a required frequency band;
The modal frequency acquisition and self-adaptive filtering module is used for updating parameters of the double-center frequency self-adaptive notch filter by using a recursive least square algorithm with forgetting factors aiming at the identification signal after filtering processing to obtain the two-order modal frequency with the highest energy in the identification signal;
the frequency updating or maintaining module is used for updating or maintaining the frequency of the two-order modal frequency, and the method is that when the vibration magnitude is larger than a required value and the change rate of the modal frequency is smaller than the required value, the notch filter adopts the identification frequency of the current beat, otherwise, the notch filter adopts the identification frequency of the previous beat;
the compensation signal generation module is used for generating a reference signal by using the updated or maintained two-order modal frequency, and generating an elastic compensation signal by using a minimum mean square error self-adaptive filtering algorithm according to the reference signal;
And the signal compensation module compensates the elastic compensation signal into a swing angle control instruction to realize stable control of the arrow body self-adaptive fault-tolerant posture.
The invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory, the processor executing the computer program to carry out the steps of the above method.
The foregoing is merely illustrative of the best embodiments of the present invention, and the present invention is not limited thereto, but any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be construed as falling within the scope of the present invention.
What is not described in detail in the present specification belongs to the known technology of those skilled in the art.

Claims (10)

1.一种运载火箭超低频弹性自适应容错姿态稳定控制方法，其特征在于，包括：1. A launch vehicle ultra-low frequency elastic adaptive fault-tolerant attitude stabilization control method, characterized by comprising: 去除辨识信号中的刚体运动信息；Remove the rigid body motion information from the identification signal; 对去除刚体运动信息的辨识信号进行滤波处理，滤掉低频成分和高频成分，保留要求频段内的信息；Filter the identification signal after removing the rigid body motion information, filter out the low-frequency components and high-frequency components, and retain the information within the required frequency band; 针对所述滤波处理后的辨识信号，利用带遗忘因子的递归最小二乘算法更新双中心频率自适应陷波滤波器参数，获得辨识信号中能量最高的两阶模态频率；For the identification signal after the filtering process, a recursive least squares algorithm with a forgetting factor is used to update the parameters of the dual center frequency adaptive notch filter to obtain the two-order modal frequencies with the highest energy in the identification signal; 对所述两阶模态频率进行频率更新或保持，方法为：当振动量级大于要求值，且模态频率的变化率小于要求值时，陷波滤波器采用当前拍的辨识频率；否则，陷波滤波器采用前一拍的辨识频率；The two-order modal frequencies are updated or maintained in the following manner: when the vibration magnitude is greater than the required value and the rate of change of the modal frequency is less than the required value, the notch filter adopts the identification frequency of the current beat; otherwise, the notch filter adopts the identification frequency of the previous beat; 利用所述更新或保持的两阶模态频率生成参考信号，根据所述参考信号利用最小均方误差自适应滤波算法生成弹性补偿信号；Generate a reference signal using the updated or maintained second-order modal frequency, and generate an elastic compensation signal based on the reference signal using a minimum mean square error adaptive filtering algorithm; 将所述弹性补偿信号补偿到控制摆角指令中，实现箭体自适应容错姿态稳定控制。The elastic compensation signal is compensated into the control swing angle instruction to realize the adaptive fault-tolerant attitude stability control of the rocket body. 2.根据权利要求1所述的运载火箭超低频弹性自适应容错姿态稳定控制方法，其特征在于，所述去除辨识信号中的刚体运动信息，包括：2. The launch vehicle ultra-low frequency elastic adaptive fault-tolerant attitude stabilization control method according to claim 1, characterized in that the rigid body motion information in the identification signal is removed, comprising: 若运载火箭全箭布置多套速率陀螺，则取任意两个安装于不同位置处的速率陀螺测量的角速度信息相减，去除刚体运动信号；If multiple sets of rate gyros are arranged on the launch vehicle, the angular velocity information measured by any two rate gyros installed at different positions is subtracted to remove the rigid body motion signal; 若运载火箭仅布置一套速率陀螺，则使用惯组解算角速度与所述速率陀螺测量的角速度信息相减，去除刚体运动信号；If the launch vehicle is equipped with only one set of rate gyro, the angular velocity calculated by the inertial group is subtracted from the angular velocity information measured by the rate gyro to remove the rigid body motion signal; 若运载火箭没有布置速率陀螺，则使用惯组解算角速度并通过高通滤波器滤除刚体运动信号。If the launch vehicle is not equipped with a rate gyro, the angular velocity is calculated using the inertial group and the rigid body motion signal is filtered out through a high-pass filter. 3.根据权利要求1所述的运载火箭超低频弹性自适应容错姿态稳定控制方法，其特征在于，采用带通滤波器对去除刚体运动信息的辨识信号进行滤波处理，所述带通滤波器的形式如下：3. The ultra-low frequency elastic adaptive fault-tolerant attitude stabilization control method for a launch vehicle according to claim 1 is characterized in that a bandpass filter is used to filter the identification signal after removing the rigid body motion information, and the form of the bandpass filter is as follows: 其中，B＝ωhigh-ωlow，ωlow为带通滤波保留频带的下边界频率，ωhigh为带通滤波保留频带的上边界频率，s为拉式变化复频域变量。in, B=ω high -ω low , ω low is the lower boundary frequency of the bandpass filter retention band, ω high is the upper boundary frequency of the bandpass filter retention band, and s is a pull-type variable in the complex frequency domain. 4.根据权利要求1所述的运载火箭超低频弹性自适应容错姿态稳定控制方法，其特征在于，利用带遗忘因子的递归最小二乘算法更新双中心频率自适应陷波滤波器参数，获得辨识信号中能量最高的两阶模态频率，包括：4. The ultra-low frequency elastic adaptive fault-tolerant attitude stabilization control method for a launch vehicle according to claim 1 is characterized in that the parameters of the dual center frequency adaptive notch filter are updated by using a recursive least squares algorithm with a forgetting factor to obtain the two-order modal frequencies with the highest energy in the identification signal, including: (1)、初始化互相关向量，令z(0)＝0；初始化相关矩阵，令Φ(0)＝δI，其中δ为正则化参数，I为单位对角矩阵；(1) Initialize the cross-correlation vector, set z(0) = 0; initialize the correlation matrix, set Φ(0) = δI, where δ is the regularization parameter and I is the unit diagonal matrix; (2)、根据所述滤波处理后的辨识信号，更新权值矩阵输入相关矩阵Φ(n)，相关矩阵Φ(n)递推公式为：(2) According to the identification signal after filtering, the weight matrix is updated to input the correlation matrix Φ(n). The recursive formula of the correlation matrix Φ(n) is: 其中，λ为指数加权遗忘因子，λ取接近于1，但小于1的数；其中x(n)、x(n-1)，x(n-2)，x(n-3)分别为第n拍、第n-1拍、第n-2拍和第n-3拍的滤波器极点部分的输出；Wherein, λ is an exponentially weighted forgetting factor, and λ is a number close to 1 but less than 1; x(n), x(n-1), x(n-2), and x(n-3) are the outputs of the pole part of the filter at the nth, n-1th, n-2th, and n-3th beats, respectively; (3)、根据所述滤波处理后的辨识信号，更新权值输入与期望响应之间的互相关向量z(n)，互相关向量z(n)递推更新公式为：(3) According to the identification signal after filtering, the cross-correlation vector z(n) between the weight input and the expected response is updated. The recursive update formula of the cross-correlation vector z(n) is: 其中，x(n-4)为第n-4拍的滤波器极点部分的输出；Among them, x(n-4) is the output of the filter pole part of the n-4th beat; (4)、根据相关矩阵Φ(n)和互相关向量z(n)，更新递归最小二乘权值向量更新公式为：(4) Update the recursive least squares weight vector according to the correlation matrix Φ(n) and the cross-correlation vector z(n) The update formula is: (5)、根据递归最小二乘权值向量计算陷波器特征参数a1(n),a2(n)，计算公式为：(5) According to the recursive least squares weight vector Calculate the characteristic parameters of the notch filter a 1 (n), a 2 (n), the calculation formula is: 进而得到滤波器辨识出的两阶模态频率，表达式如下：Then the second-order modal frequencies identified by the filter are obtained, and the expressions are as follows: 其中，ΔT为采样时间。Where ΔT is the sampling time. 5.根据权利要求4所述的运载火箭超低频弹性自适应容错姿态稳定控制方法，其特征在于，满足如下至少一项：5. The launch vehicle ultra-low frequency elastic adaptive fault-tolerant attitude stabilization control method according to claim 4 is characterized in that at least one of the following is satisfied: 正则化参数δ与信噪比相关，高信噪比时取小值，低信噪比时取较大值，δ取值为1×10-4；The regularization parameter δ is related to the signal-to-noise ratio. It takes a small value when the signal-to-noise ratio is high and a large value when the signal-to-noise ratio is low. The value of δ is 1×10 -4 ; 指数加权遗忘因子λ取值越小遗忘越快，辨识频率更为平滑，λ取值为0.95～0.99；The smaller the exponential weighted forgetting factor λ is, the faster the forgetting is and the smoother the recognition frequency is. The value of λ is 0.95～0.99; 采样时间ΔT取控制周期0.02s。The sampling time ΔT is the control period 0.02s. 6.根据权利要求1所述的运载火箭超低频弹性自适应容错姿态稳定控制方法，其特征在于，所述振动量级的判断采用频谱阻尼器的输出值ys或采用频率辨识输入信号的幅值|y(n)|。6. The ultra-low frequency elastic adaptive fault-tolerant attitude stabilization control method for a launch vehicle according to claim 1 is characterized in that the vibration magnitude is determined by using the output value ys of the spectrum damper or the amplitude |y(n)| of the frequency identification input signal. 7.根据权利要求1所述的运载火箭超低频弹性自适应容错姿态稳定控制方法，其特征在于，利用所述更新或保持的两阶模态频率采用如下公式生成参考信号：7. The launch vehicle ultra-low frequency elastic adaptive fault-tolerant attitude stabilization control method according to claim 1 is characterized in that the reference signal is generated by using the updated or maintained second-order modal frequency using the following formula: 其中，d(n)为第n时间步的参考信号，A参考信号幅值，为更新或保持的两阶模态频率，t为时间，ΔT为采用时间；δ为采样脉冲函数。Where d(n) is the reference signal at the nth time step, A is the reference signal amplitude, is the updated or maintained two-order modal frequency, t is the time, ΔT is the sampling time; δ is the sampling pulse function. 8.根据权利要求7所述的运载火箭超低频弹性自适应容错姿态稳定控制方法，其特征在于，根据所述参考信号利用最小均方误差自适应滤波算法生成弹性补偿信号，包括：8. The launch vehicle ultra-low frequency elastic adaptive fault-tolerant attitude stabilization control method according to claim 7 is characterized in that the elastic compensation signal is generated according to the reference signal using a minimum mean square error adaptive filtering algorithm, comprising: (1)、定义权值向量 (1) Define the weight vector 其中，M为滤波器阶次，令初始化权值向量 Where M is the filter order, let the initial weight vector (2)、计算输入信号与输出信号的估计误差e(n)：(2) Calculate the estimated error e(n) between the input signal and the output signal: e(n)＝u(n)-δek(n)e(n)＝u(n) -δek (n) 其中，e(n)为第n时间步的误差信号，δek(n)为第n时间步的频率为的第k阶弹性补偿信号，u(n)为滤波处理后的辨识信号扣除经过双中心频率滤波器滤波后信息的残余弹性信号，为第n时间步的M×1输入向量；Where e(n) is the error signal at the nth time step, δek (n) is the frequency at the nth time step. The k-th order elastic compensation signal of , u(n) is the residual elastic signal of the identification signal after filtering minus the information filtered by the dual center frequency filter, and is the M×1 input vector of the n-th time step; (3)、根据所述权值向量和误差信号e(n)，计算随机梯度下降下的递推权值向量，权值向量递推公式为：(3) According to the weight vector And the error signal e(n), calculate the recursive weight vector under stochastic gradient descent, the weight vector recursion formula is: w(n+1)＝w(n)+μu(n)e(n)w(n+1)＝w(n)+μu(n)e(n) 其中，μ为计算步长；Among them, μ is the calculation step size; (4)、根据参考信号d(n)，计算第n+1时间步的滤波器输出：(4) According to the reference signal d(n), calculate the filter output at the n+1th time step: δek(n+1)＝wT(n)d(n) δek (n+1)＝ wT (n)d(n) 其中，δek(n+1)为第n+1时间步的频率为的第k阶弹性的补偿信号；T为转置。Among them, δek (n+1) is the frequency of the n+1th time step. The compensation signal of the k-th order elasticity; T is the transpose. 9.一种运载火箭超低频弹性自适应容错姿态稳定控制系统，其特征在于，包括：9. A launch vehicle ultra-low frequency elastic adaptive fault-tolerant attitude stability control system, characterized by comprising: 信息去除模块，去除辨识信号中的刚体运动信息；An information removal module removes rigid body motion information from the identification signal; 滤波模块，对去除刚体运动信息的辨识信号进行滤波处理，滤掉低频成分和高频成分，保留要求频段内的信息；The filtering module performs filtering processing on the identification signal after the rigid body motion information is removed, filters out the low-frequency components and high-frequency components, and retains the information within the required frequency band; 模态频率获取与自适应滤波模块，针对所述滤波处理后的辨识信号，利用带遗忘因子的递归最小二乘算法更新双中心频率自适应陷波滤波器参数，获得辨识信号中能量最高的两阶模态频率；The modal frequency acquisition and adaptive filtering module updates the parameters of the dual-center frequency adaptive notch filter using a recursive least squares algorithm with a forgetting factor for the identification signal after the filtering process, so as to obtain the two-order modal frequencies with the highest energy in the identification signal; 频率更新或保持模块，对所述两阶模态频率进行频率更新或保持，方法为：当振动量级大于要求值，且模态频率的变化率小于要求值时，陷波滤波器采用当前拍的辨识频率；否则，陷波滤波器采用前一拍的辨识频率；A frequency updating or maintaining module is used to update or maintain the two-order modal frequencies, in the following way: when the vibration magnitude is greater than the required value and the rate of change of the modal frequency is less than the required value, the notch filter adopts the identification frequency of the current beat; otherwise, the notch filter adopts the identification frequency of the previous beat; 补偿信号生成模块，利用所述更新或保持的两阶模态频率生成参考信号，根据所述参考信号利用最小均方误差自适应滤波算法生成弹性补偿信号；A compensation signal generating module, which generates a reference signal using the updated or maintained second-order modal frequencies, and generates an elastic compensation signal using a minimum mean square error adaptive filtering algorithm according to the reference signal; 信号补偿模块，将所述弹性补偿信号补偿到控制摆角指令中，实现箭体自适应容错姿态稳定控制。The signal compensation module compensates the elastic compensation signal into the control swing angle instruction to realize the adaptive fault-tolerant attitude stability control of the rocket body. 10.一种计算机装置，包括存储器、处理器及存储在存储器上的计算机程序，其特征在于，所述处理器执行所述计算机程序以实现权利要求1所述方法的步骤。10. A computer device comprising a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method according to claim 1.
CN202411503905.0A 2024-10-25 2024-10-25 Ultra-low frequency elastic adaptive fault-tolerant attitude stabilization control method and system for launch vehicles Pending CN119511700A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202411503905.0A CN119511700A (en) 2024-10-25 2024-10-25 Ultra-low frequency elastic adaptive fault-tolerant attitude stabilization control method and system for launch vehicles

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202411503905.0A CN119511700A (en) 2024-10-25 2024-10-25 Ultra-low frequency elastic adaptive fault-tolerant attitude stabilization control method and system for launch vehicles

Publications (1)

Publication Number Publication Date
CN119511700A true CN119511700A (en) 2025-02-25

Family

ID=94649639

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202411503905.0A Pending CN119511700A (en) 2024-10-25 2024-10-25 Ultra-low frequency elastic adaptive fault-tolerant attitude stabilization control method and system for launch vehicles

Country Status (1)

Country Link
CN (1) CN119511700A (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100312365A1 (en) * 2009-06-05 2010-12-09 University Of Southern California Adaptive notch filter
CN114265419A (en) * 2021-12-08 2022-04-01 航天科工火箭技术有限公司 Carrier rocket attitude control method and device, electronic equipment and storage medium
CN114415509A (en) * 2022-01-11 2022-04-29 西北工业大学 Servo elastic active suppression method for remote rocket projectile
CN114779636A (en) * 2022-04-17 2022-07-22 西北工业大学 Aircraft robust adaptive control method considering pneumatic servo elasticity
CN115145300A (en) * 2022-08-24 2022-10-04 航天科工火箭技术有限公司 Carrier rocket attitude control method and related equipment
CN116340730A (en) * 2023-05-26 2023-06-27 西安现代控制技术研究所 A Method for Online Identification and Suppression of Elastic Vibration Frequency of Rockets

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100312365A1 (en) * 2009-06-05 2010-12-09 University Of Southern California Adaptive notch filter
CN114265419A (en) * 2021-12-08 2022-04-01 航天科工火箭技术有限公司 Carrier rocket attitude control method and device, electronic equipment and storage medium
CN114415509A (en) * 2022-01-11 2022-04-29 西北工业大学 Servo elastic active suppression method for remote rocket projectile
CN114779636A (en) * 2022-04-17 2022-07-22 西北工业大学 Aircraft robust adaptive control method considering pneumatic servo elasticity
CN115145300A (en) * 2022-08-24 2022-10-04 航天科工火箭技术有限公司 Carrier rocket attitude control method and related equipment
CN116340730A (en) * 2023-05-26 2023-06-27 西安现代控制技术研究所 A Method for Online Identification and Suppression of Elastic Vibration Frequency of Rockets

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
赵党军等: "弹性运载火箭自适应姿态控制", 广西大学学报(自然科学版), no. 06, 20 December 2011 (2011-12-20), pages 1004 - 1008 *

Similar Documents

Publication Publication Date Title
CN116697829B (en) Rocket landing guidance method and system based on deep reinforcement learning
CN107515612B (en) Elastic vibration suppression method based on side jet flow control
CN115437406B (en) Aircraft reentry tracking guidance method based on reinforcement learning algorithm
CN115562314B (en) Carrier rocket sublevel landing zone control method, system, medium and computer equipment
CN114398755B (en) Elastic filter design method
CN119511700A (en) Ultra-low frequency elastic adaptive fault-tolerant attitude stabilization control method and system for launch vehicles
CN116125815B (en) Intelligent cooperative control method for small celestial body flexible lander
CN114611416B (en) LS-SVM modeling method for nonlinear unsteady aerodynamic characteristics of missile
CN111306995B (en) Method for designing combined controller for suppressing projectile flutter
CN118296732B (en) A Disturbance Estimator Design Method Based on Immersion and Invariant Manifold Theory
CN110389530B (en) Parameter identification and drive control method of MEMS gyroscope based on data screening
Sundararajan et al. Adaptive modal control of structural dynamic systems using recursivelattice filters
CN115793447A (en) Carrier rocket separation body attitude control method under large pneumatic uncertain condition
Haley et al. Generalized predictive control for active flutter suppression
CN121028823B (en) A rocket attitude control method, device, electronic equipment, and storage medium
CN116430718A (en) A fault-tolerant control method for thrusters of underwater robots based on DDPG algorithm
Ustinov et al. Control Law Design for Flesible Aircraft: Comparison of the H-Infinity-based and Classical Methods
CN117572780B (en) An adaptive fault-tolerant control method for flexible spacecraft failures
CN119646946B (en) A design method for self-excited oscillation suppression network of vertical launch vehicle
Zhang et al. Event-triggered dynamic surface control for nonlinear system with constraints
CN119882415B (en) Safety protection design method for carrier rocket self-adaptive augmentation controller
Thien et al. Event-Triggered Robust Optimal Control: Application to Single-Wheel Self-Balancing Robots
CN118092466A (en) Integrated guidance and control system and method based on stochastic risk sensitive control
CN119512159B (en) Reinforcement learning control method and system for attitude of spinning aircraft under saturated nonlinearity
CN111174645A (en) An Active Flutter Suppression Method for Wings Based on L1 Adaptive Control Algorithm

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination