冗余策略下的高可靠移动机器人控制系统设计  

High Reliable Mobile Robot Control System Design with Redundancy Strategy

作　　者：尹辉[1] 周翟和[1] 伏家杰 游霞[1] YIN Hui;ZHOU Zhaihe;FU Jiajie;YOU Xia(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学自动化学院

出　　处：《机械制造与自动化》2019年第3期153-157,206,共6页Machine Building & Automation

基　　金：国家自然科学基金项目(61174102);江苏省产学研前瞻性联合研究项目(BY2015003-06)

摘　　要：论述了移动机器人控制系统的设计原理与实现方法,并针对惯性传感器易发故障、单一姿态测量系统无法保证控制系统高可靠性的缺点,利用二模硬件冗余策略为控制系统设计了低成本的冗余姿态测量系统。针对移动机器人嵌入式微控制器运算能力有限,设计了高准确度和低时间复杂度的自适应能态突变检测算法,检测惯性传感器故障。仿真和实验结果表明,该算法能极大提高传感器故障检测和余度切换的实时性,使系统失控时间<95ms,俯仰角最大偏差不超过17°。冗余姿态测量系统的设计,能极大延长控制系统的平均失效时间,确保控制系统具备高可靠性。This paper discusses the design and implementation method of the mobile robot control system.Because the failures easily occur in the inertial sensors and it is impossible to ensure the high reliability of the control system in the single attitude measurement sytem,it designs a low cost redundancy attitude measurement system with the two mode hardware redundancy strategies.Due to the weakness of embedded processor in which the data processing ability is limited,it designs a high accuracy and low time complex adaptive energy mutation detection algorithm to detect the sensor.The simulation and experimental results show that the algorithm can be used to greatly improve the real-time sensor fault detection and redundancy switching,thus making the system runaway time less than 95 ms,pitching angle deviation less than 17°.The designed redundancy attitude measurement system can be used to greatly extend the mean runaway time thus ensuring the high reliability of the robot control system.

关 键 词：移动机器人 二模冗余 姿态系统 余度管理 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]