Real-time diagnosis and tolerant system for sensor faults of reconfigurable mechanical arm and method thereof

Abstract

The invention discloses a real-time diagnosis and tolerant system for sensor faults of a reconfigurable mechanical arm and a method thereof, and relates to the technical field of control of intelligent machinery and robots. The system comprises a dispersing master control module, a fault detection module, a signal reconfiguration module, an active switching device, an executor and a sensor signal collecting sub-system, wherein the dispersing master control module provides a control law when the system normally operates, the fault detection module collects sensor fault signals through a dispersing sliding-mode observer and judges faults of which sensors at what time, the signal reconfiguration module reconfigures fault sensor signals through non-fault sensor signals, and the active switching device closes a fault sensor feedback channel and feeds the reconfiguration signals to the dispersing master control module so as to realize real-time detection and tolerance of sensor faults of the reconfigurable mechanical arm. Based on the characteristic of control object modularization, a single module fault does not affect normal operation of other modules, and the control precision of the fault system is effectively improved, so that the control result is more accurate and reasonable and practical.

Description

technical field [0001] The invention relates to the technical field of intelligent machinery and robot control, in particular to a real-time fault diagnosis and fault tolerance system of a reconfigurable mechanical arm sensor and a method thereof. Background technique [0002] The reconfigurable manipulator is composed of a set of interchangeable joint modules and link modules with standard interfaces, and can be assembled to adapt to different task environments by increasing or decreasing the number of modules and changing geometric configurations. Compared with traditional manipulators, reconfigurable manipulators can adapt to a wider range of work and have the advantages of low cost, easy maintenance, easy modification, and portability. The development of reconfigurable manipulator technology has expanded the application space of manipulators in many fields such as industry, military and aerospace. Since the reconfigurable robotic arm works in an unknown and harsh enviro...

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Problems solved by technology

[0004] In order to solve the complex design of the controller of the reconfigurable manipulator system with uncertain degrees of freedom, and the technical problems of strong nonlinearity, high dimensionality, and strong coupling between fault diagnosis

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