一种面向空间机械臂运动控制的容错计算机体系结构  

A Fault-tolerant Motion Control Computer Architecture for Space Manipulator

作　　者：侯亮[1] 梁常春[1] 张沛[1] 唐自新[1] 

机构地区：[1]北京空间飞行器总体设计部空间智能机器人系统技术与应用北京市重点实验室,北京100094

出　　处：《载人航天》2016年第5期550-554,575,共6页Manned Spaceflight

基　　金：国家自然科学基金(61573058)

摘　　要：针对现有航天抗辐照高可靠处理器难以满足空间机械臂运动控制运算量大的问题,结合机械臂运动控制算法的特点,提出了一种由双机主模块和多机从模块组成的面向空间机械臂运动控制的容错计算机体系结构。该体系结构中,主模块以航天专用抗辐照处理器为核心进行设计,从模块以商用现货(COTS)器件为核心进行设计,其中从模块负责运动控制运算,主模块负责从模块运算结果的表决及任务管理、健康管理等工作。系统容错性能和可靠性分析结果表明,该运动控制计算机体系结构容错能力强、可靠性高,在空间机械臂领域具有良好的应用前景。The motion control of space manipulator requires high processing capability, but the available high-reliability and anti-radiation processor has low performance in computation. To solve this problem,a fault-tolerant motion control computer architecture was proposed considering the characteristics of the motion control algorithm. The system consisted of the double-backup master CPU module and N-backup salve CPU module. The CPU of the master module was high-reliability and anti-radiation processor while the slave module was COTS processor. The master module was in charge of the task management, health management and voting of the slave module whose main task was motion control computation. The architecture proposed in this paper was verified to be fault-tolerant and with high-reliability. It has promising application potentials in space manipulator.

关 键 词：空间机械臂 运动控制计算机 容错 计算机体系结构 

分 类 号：V446[航空宇航科学与技术—飞行器设计]