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Method for detecting faults of spatial mechanical arms on basis of particle filter algorithms

A particle filter algorithm and space manipulator technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems that affect the accuracy of fault diagnosis and the difficulty of selecting the fault threshold

Active Publication Date: 2018-12-11
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

The setting of the fault threshold affects the accuracy of fault diagnosis, but the size of the fault threshold is a difficult problem to choose

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  • Method for detecting faults of spatial mechanical arms on basis of particle filter algorithms
  • Method for detecting faults of spatial mechanical arms on basis of particle filter algorithms
  • Method for detecting faults of spatial mechanical arms on basis of particle filter algorithms

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Embodiment Construction

[0080] In order to better understand the technical solutions of the present invention, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0081] It should be clear that the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0082] The specific steps of the space manipulator fault detection method based on the particle filter algorithm are as follows:

[0083] 1. Design a nonlinear disturbance observer based on the dynamic model of the space manipulator, and then select the Lyapunov function to prove its convergence; 2. Design a sliding mode variable structure controller to compensate the results of the disturbance observer, and obtain the space mecha...

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Abstract

The invention discloses a method for detecting faults of spatial mechanical arms on the basis of particle filter algorithms. The method includes designing nonlinear disturbance observers on the basisof dynamic analytic models of the spatial mechanical arms, selecting Lyapunov functions on the basis of the nonlinear disturbance observers and proving convergence; designing sliding mode variable structure controllers and compensating for results obtained by disturbance observers so as to obtain joint angles of the spatial mechanical arms; evaluating measurement results of sensors by the aid of the particle filter algorithms due to noise between measurement values of the sensors and actual values of the joint angles, computing the probability that the spatial mechanical arms can reach targetjoint angles, combining curves of the disturbance observers with probability values obtained by means of computation, and comprehensively assessing the occurrence of the faults. Compared with other methods for detecting faults, the method for detecting the faults has the advantages that fault thresholds do not need to be set, and the fault diagnosis accuracy can be improved.

Description

【Technical field】 [0001] The invention belongs to the technical field of automatic control, relates to a disturbance observer and a sliding mode variable structure control, in particular to a space manipulator fault detection method based on a particle filter algorithm. 【Background technique】 [0002] Due to the harsh working environment and the interference of the cosmic environment, joint failures of space manipulators occur from time to time. Failure to timely and accurately judge the faulty joints and adjust the control strategy of the manipulator will lead to the failure of its task and even damage the manipulator itself. [0003] The fault detection methods of the manipulator can be roughly divided into two categories: the knowledge-based fault diagnosis method forms a priori knowledge database based on the historical data of the system under normal operation and fault conditions, and then infers whether the system has failed according to some intelligent reasoning rul...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1674
Inventor 高欣翟林任泽宇刘惠禾
Owner BEIJING UNIV OF POSTS & TELECOMM
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