|本期目录/Table of Contents|

[1]郭闯强,倪风雷,孙敬颋,等.空间机械臂关节容错控制系统研究[J].电机与控制学报,2011,(02):76-83.
 GUO Chuang-qiang,NI Feng-lei,SUN Jing-ting,et al.Design of the fault-tolerant control system for space robotic joint[J].,2011,(02):76-83.
点击复制

空间机械臂关节容错控制系统研究(PDF)
分享到:

《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
期数:
2011年02
页码:
76-83
栏目:
出版日期:
2011-02-20

文章信息/Info

Title:
Design of the fault-tolerant control system for space robotic joint
作者:
郭闯强; 倪风雷; 孙敬颋; 刘宏;
哈尔滨工业大学机器人技术与系统国家重点实验室;
Author(s):
GUO Chuang-qiang; NI Feng-lei; SUN Jing-ting; LIU Hong
State Key Laboratory of Robotics and System; Harbin Institute of Technology; Harbin 150001; China
关键词:
空间机器人 模块化关节 故障检测 容错
Keywords:
space robot modular joint fault detection fault tolerance
分类号:
TP241
DOI:
-
文献标志码:
A
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。
Abstract:
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...

参考文献/References:

-

相似文献/References:

备注/Memo

备注/Memo:
国家“863”计划资助项目(2006AA04Z228); 高等学校学科创新引智“111”资助(B07018)
更新日期/Last Update: 2011-06-30