基于容错策略的球形机器人控制系统  

Spherical Robot Control System Based on Fault-tolerant Strategy

作　　者：孙汉旭[1] 刘大亮[1,2] 贾庆轩[1] 张延恒[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876 [2]北京中关村海淀科技园博士后工作站时代集团公司分站,北京100085

出　　处：《机械工程学报》2010年第11期89-95,共7页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50775013);国家高技术研究发展计划(863计划;2006AA04Z243)资助项目

摘　　要：基于容错策略对具有高可靠性的一种球形机器人控制系统进行研究。根据球形机器人自主运动的任务要求将控制问题分解为8个局部控制器,并基于局部控制器的结构研制基于多传感器的球形机器人嵌入式控制系统。这些局部控制器相互之间存在通信和信息交互的能力,在任务分配和协作方面具有自主性。基于冗余容错控制技术设计球形机器人的冗余双备份伺服控制子系统,以提高控制系统的可靠性。其中,冗余双备份伺服控制子系统是由两个相同的备份模块组成的,通过故障检测、故障定位以及系统恢复实现容错功能,而且冗余结构能够根据故障情况进行重组。基于时间容错和信息容错的技术设计球形机器人的软件系统,并设计监控软件监视软件系统的运行状态。球形机器人的控制系统试验表明基于容错策略设计的球形机器人控制系统是可行的、有效的。Based on the fault-tolerant strategy,the control system with high reliability is researched for a type of spherical robot. The control problem is decomposed into eight local controllers according to the task requirement of autonomous movement of the spherical robot,and thereby the embedded control system of the spherical robot with multi-sensors is implemented according to the structure of the local controllers proposed above. These local controllers are provided with the abilities of communication and information exchange among them,and a certain degree of autonomy in task assignment and collaboration. In order to improve the reliability of the control system,the dual-redundant backup servo control subsystem of the spherical robot is designed based on the redundant and fault-tolerant control technology. The dual-redundant backup servo control subsystem,which is composed of two same backup modules,realizes fault-tolerant tasks through methods of fault detection,fault location and system recovery and redundant restructuring according to the fault conditions. The operation of the fault-tolerant software system based on the time fault-tolerant and information fault-tolerant technology is monitored by the designed monitoring software. The results of the motion control experiment of the spherical robot show that the control system of the spherical robot based on the fault-tolerant strategy is feasible and effective.

关 键 词：球形机器人 机器人控制系统 容错策略 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]