Fault tolerance control method for space mechanical arm

A space manipulator, fault-tolerant control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of long sliding surface arrival time and large system chattering

Active Publication Date: 2018-02-16
南京华麦机器人技术有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, as far as the adaptive sliding mode technology is concerned, there are still the following deficiencies to be solved: (1) the arrival time of the sliding mode surface is relatively long; (2) the timeliness and accuracy of the parameter adaptive estimation value; (3) the system shakes Larger vibration

Method used

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  • Fault tolerance control method for space mechanical arm
  • Fault tolerance control method for space mechanical arm
  • Fault tolerance control method for space mechanical arm

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Embodiment Construction

[0101] Such as figure 1 As shown, in order to trace the reference instruction q d , considering the actuator fault E in the manipulator system and the external disturbance τ d The existence of the self-adaptive algorithm can quickly estimate the minimum value of the two when the fault information and disturbance information are unknown, but it does not need to obtain a particularly accurate minimum value of the fault, so as to realize online real-time estimation of faults and disturbances, making A malfunctioning robotic arm system quickly follows the expected signal and continues to complete the task. The invention is a fault-tolerant control method of a space manipulator, comprising the following steps:

[0102] Step 1. Establish a general model of space manipulator dynamics,

[0103] q∈R n represents the joint position vector, represents the joint velocity vector, Indicates the joint acceleration vector; R n Represents an n-dimensional vector space;

[0104] H s...

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Abstract

The invention belongs to the field of industrial automatic control and specifically relates to a fault tolerance control method for a space mechanical arm. The method comprises the following steps: ina first step, a general model for space mechanical arm dynamics is built; in a second step, existence of actuator failure faults is taken into consideration, and a space mechanical arm fault model isbuilt; in a third step, fault parameters and external disturbance of of the space mechanical arm fault model are estimate in real time through an on-line self-adaptive method, and controller parameters are updated. The fault tolerance control method disclosed in the invention is high in tolerance for actuator faults and strong in robustness against external disturbance, and expected requirementsfor a space mechanical arm system can be met.

Description

technical field [0001] The invention belongs to the field of industrial automatic control, and in particular relates to a fault-tolerant control method of a space manipulator. Background technique [0002] With the advancement of science and technology, the technology of robotic arms is also developing rapidly, and its scope and fields of application are also expanding, and human needs for it are also reflected in different environments and occasions. People not only need robotic arms to help people live and work better, but also need robotic arms to complete more dangerous and complex tasks in restricted working spaces or complex and changeable environments. Therefore, the mechanical arm is not only used by people in daily life, but also widely used in dangerous fields such as military affairs, deep sea exploration, and space exploration. [0003] Space exploration is an important application field of robotic arms. In the space environment, human life is always threatened...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 赵静姜森谢非王弦郦泽云
Owner 南京华麦机器人技术有限公司
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