空间机械臂关节容错控制系统研究  

Design of the fault-tolerant control system for space robotic joint

作　　者：郭闯强[1] 倪风雷[1] 孙敬颋[1] 刘宏[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001

出　　处：《电机与控制学报》2011年第2期76-83,共8页Electric Machines and Control

基　　金：国家"863"计划资助项目(2006AA04Z228);高等学校学科创新引智"111"资助(B07018)

摘　　要：针对空间机械臂高可靠性要求,提出一种基于双绕组永磁同步电机的关节容错控制系统。与传统控制系统相比,该控制系统使得机械臂关节保持了较小的体积和重量,能够容忍主份和备份子系统之间发生多个不重叠故障,且能在单个子系统发生故障而断电的情况下,维持关节的不间断工作,从而解决了传统双绕组电机控制系统不能容忍电源及控制器出现故障的问题,提高了关节的容错能力。设计了电机驱动系统和控制器的容错控制策略,并基于关节冗余传感器信息,能够在两种位置传感器同时发生故障的情况下,实现对故障的在线检测。To meet the requirement of high reliability of space robotic system,a fault-tolerant joint control system has been developed based on dual winding permanent magnet synchronous motor.Compared with the traditional scheme,the presented joint control system,maintaining relatively small sizes and weights of the essential joints,is able to withstand multiple non-repeating faults occurred in two redundant subsystems.Non-stop run can also be attained even though either of the running subsystems has a power failure.Hence,the problem existing in the traditional control system of dual winding motor that the faults occurred in the controller or power sub-system are intolerable,has been solved with an improvement in the fault-tolerant capability of the joint.The fault-tolerant control strategy applied to the motor drive system and controller has been designed.And on-line fault detection can be realized based on the redundant information of joint sensor,even though two position sensors fail at the same time.

关 键 词：空间机器人 模块化关节 故障检测 容错 

分 类 号：TM24[一般工业技术—材料科学与工程]