核辐射探测机器人故障容错控制方法研究  

Study of the Fault Tolerant Control Method of Nuclear Detection Robot

作　　者：丑武胜[1] 刘源[1] 杨光[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100191

出　　处：《微计算机信息》2010年第29期1-3,9,共4页Control & Automation

基　　金：基金申请人:丑武胜;项目名称:核辐射探测与应急处理机器人系统;颁发部门:国家863计划(2007AA04Z259);基金申请人:杨光;项目名称:废墟搜救机器人嵌入式控制器共性技术研究;颁发部门:国家863计划(2007AA041502)

摘　　要：为了提高核辐射探测机器人的可靠性,本文对核辐射探测机器人双机冗余容错控制系统的故障检测与处理提出了一些新的方法。其中,将双机冗余容错控制系统按所处地位不同划分为处理层、接口层和外设层,容错控制中根据不同层面的情况采用多种检测方法有效的判断出故障的具体位置。其次,针对各类故障采用相应的处理方法,不仅实现了控制系统的处理器冗余还实现了控制器的接口冗余。试验表明该系统能很好的满足核辐射探测任务的要求,使系统具有容错控制功能,提高了机器人的可靠性。In order to improve the reliability of nuclear detection robot,some new methods of fault detection and handling for thefault tolerant control system of nuclear detection is presented in this paper.The fault tolerant control system is divided into the processor layer,the connector layer and the peripheral layer according to different status.A variety of detection methods are used to determine the location of faults effectively according to the situation of different layers in the fault tolerant control system.And then different types of solution are used to treat the corresponding faults.Not only the redundancy of the processor layer but also the redundancy of the connector layer is achieved.Tests show that the system can meet the requirement of the task of nuclear detection well,own the ability of fault tolerant and improve the reliability of the robot.

关 键 词：容错 故障检测 故障处理 

分 类 号：TP311.52[自动化与计算机技术—计算机软件与理论]