Fault-tolerant control system and method for manipulator arm actuator based on double-layer structure

Abstract

The invention uses the idea of hierarchical structure control optimization to provide a manipulator actuator fault tolerant control system based on a double-layer structure and a method thereof, which belongs to the technical field of automatic control. In order to reduce the computational complexity and improve the instantaneity, a discrete system model under an actuator fault is established in an expansion manner through Taylor series. An FDD unit is designed to initiatively deal with a fault problem. The estimated fault information is introduced into a fault model to realize active fault tolerance. Uncertainties of the actual system are considered. A feedback correction mechanism is used for compensation. A manipulator fault tolerant controller is composed of a trajectory planning layer and a tracking control layer. According to different control objectives of each layer, a controller is designed separately, which is more specific to the problem. The fault tolerant control of the double-layer structure can deal with the existing system constraints, has strong robustness, can effectively solve the problem of the constant deviation fault of a complex manipulator actuator, and ensures the stability and the control performance of the whole system.

Description

technical field [0001] The invention relates to a fault-tolerant control system and method of a mechanical arm actuator based on a double-layer structure, and belongs to the technical field of automatic control. Background technique [0002] With the advancement of science and technology, more and more robotic arms are used in the field of industrial production to complete production tasks, and the requirements for its control performance are constantly improving. The reliability and accuracy of its actuators, sensors and other components must be guaranteed. Especially in aerospace, navigation and other fields, the specific working environment puts forward stricter specifications for the operation safety of its control system. However, during the operation of the control system, it is easy to cause equipment wear or external interference, and its mechanical actuator has complex nonlinear characteristics, and it is prone to failure when it is in the working state for a long t...

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the technical problems of complex design of the uncertain manipulator system controller, strong coupling between fault diagnosis and fault-tolerant system, and high nonlinearity, and to meet the system constraints existing in the actual operation process, the present invention provides a manipulator based on a double-layer structure Actuator fault-tolerant control system and method thereof

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