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Three-connecting-rod manipulator actuator fault detection method based on event triggering mechanism

A technology of fault detection and event triggering, applied in manipulators, manufacturing tools, etc., can solve problems such as transmission delays, achieve the effects of saving communication bandwidth, ensuring system performance, and simple implementation

Pending Publication Date: 2022-02-01
NANJING UNIV OF POSTS & TELECOMM
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  • Claims
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Problems solved by technology

[0010] (3) There will inevitably be a transmission delay during the transmission of system output information

Method used

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  • Three-connecting-rod manipulator actuator fault detection method based on event triggering mechanism
  • Three-connecting-rod manipulator actuator fault detection method based on event triggering mechanism
  • Three-connecting-rod manipulator actuator fault detection method based on event triggering mechanism

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Embodiment Construction

[0052] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

[0053] A fault detection method for a three-link manipulator actuator based on an event-triggered mechanism, such as figure 1 , figure 2 and image 3 As shown, including the following steps:

[0054] Step 1: Establish the nonlinear dynamic model of the three-link planar manipulator in the joint coordinate system, and then convert it into a linear model in the Cartesian coordinate system, and then select the linearized balance point, considering the actuator failure parameters and external disturbances Input parameters to design a generalized system model of a three-link planar manipulator:

[0055] Set the three-dimensional model for the three-link manipulator and set the joint coordinate s...

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Abstract

The invention discloses a three-connecting-rod manipulator actuator fault detection method based on an event triggering mechanism, which comprises the following steps of firstly, selecting a linearized balance point, and establishing a three-connecting-rod plane manipulator generalized system model by considering actuator fault parameters and external disturbance, establishing a three-connecting-rod plane manipulator fault detection system model according to the three-connecting-rod plane manipulator generalized system model, determining regular, pulse-free and exponential stable conditions of the three-connecting-rod plane manipulator fault detection system model under H-infinity performance, and cooperatively designing the three-connecting-rod plane manipulator fault detection system model based on the stable conditions, and designing a residual error evaluation function and a residual error evaluation threshold value based on the residual error, and giving a fault judgment method. According to the method, the fault of an actuator can be detected in time, safe and reliable operation of a manipulator is guaranteed, limited network bandwidth can be saved, and the method has extremely high practical application value.

Description

technical field [0001] The invention relates to a fault detection method for a three-link manipulator actuator based on an event trigger mechanism, and belongs to the technical field of networked system fault detection. Background technique [0002] The three-link planar manipulator has high flexibility and strong reliability. It can operate in high temperature, toxic, dusty and noisy environments to maintain personal safety. It is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other fields; [0003] However, the application of the three-link planar manipulator in various industries is based on its ability to maintain normal working conditions, but in the actual working process of the manipulator, due to electromagnetic interference, aging of components and other reasons, the actuator will inevitably break down. malfunction. In this case, if the failure is not detected in time and dealt with accordingly, the manipulator...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 林金星施苏苏王强徐丰羽樊春霞
Owner NANJING UNIV OF POSTS & TELECOMM
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