基于故障在线估计的可重构机械臂分散容错控制  

Online fault estimation based on decentralized fault-tolerant control for reconfigurable manipulators

作　　者：赵博[1,2] 李成浩[3,2] 李元春[1,2] 

机构地区：[1]长春工业大学电气与电子工程学院,长春130012 [2]吉林大学通信工程学院,长春130022 [3]一汽轿车股份有限公司产品部,长春130012

出　　处：《吉林大学学报（工学版）》2014年第6期1729-1735,共7页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(61374051,60974010);吉林省科技发展计划项目(20110705)

摘　　要：为了降低可重构机械臂模块关节执行器和传感器故障对其控制性能的影响,提出了一种基于故障在线估计的分散容错控制方法。基于可重构机械臂的模块化属性和Lyapunov稳定性理论,设计了分散自适应滑模观测器以实现执行器和传感器故障的在线自适应估计。同时采用神经网络对子系统非线性项进行逼近和补偿,并结合非奇异快速Terminal滑模思想实现了分散容错控制。最后,采用两种不同构形的三自由度可重构机械臂进行了仿真试验,结果表明,所设计的容错控制方法是有效的。To reduce the influence of module joint actuator and sensor failure on the controllability of the reconfigurable manipulator,an online fault estimation method based on the decentralized faulttolerant control scheme was proposed.Based on the modularized property of the manipulator and Lyapunov stability theory,a decentralized adaptive sliding mode observer is constructed to estimate the actuator and sensor faults adaptively.Meanwhile,the nonlinear terms are approximated or compensated by neural networks.Then,the idea of non-singular fast terminal mode control was employed to achieve decentralized fault-tolerant control.Finally,numerical simulation was carried out for two 3-DOF reconfigurable manipulators with different configurations.The results demonstrate the effectiveness of the proposed fault-tolerant control scheme.

关 键 词：自动控制技术 可重构机械臂 故障在线估计 分散滑模观测器 容错控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]