空间机械臂关节容错控制系统研究.PDF

15 2 Vol15 N o2 2011 2 ELECTR IC MACH INES AND CONTRO L Feb. 2011 郭闯强, 倪风雷, 孙敬颋, 刘宏 ( , 150001) : 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 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 能力设计了电机驱动系统和控制器的容 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 : 空间机器人; 模块化关节; 故障检测; 容 : TM 24 : A : 1007 449X( 2011) 02 0076 08 Design of the faulttolerant control system for space robotic joint GUO Chuangqiang, NI Fengle,i SUN Jingting, L IU Hong ( State Key Laboratory of Robotics and System, H arb in Institute of Technology, H arb in 150001, Ch ina) Abstract: To meet the requirement of high reliability of space robotic system, a faulttolerant joint control system has been developed based on dualw inding permanentmagnet synchronousmotor. Comparedw ith the traditional scheme, the presented joint control system, maintaining relatively small sizes and weights of the essential joints, is able tow ithstandmultiple nonrepeating faults occurred in two redundant subsys tem s. Nonstop run can also be attained even though either of the running subsystem s has a power fail ure. Hence, the problem existing in the traditional control system of dualw inding motor that the faults occurred in the controller or power subsystem are intolerable, has been solved w ith an mi provement in the faulttolerant capability of the joint. The faulttolerant control strategy applied to themotor drive sys tem and controller has been designed. And online fault