多传感器的关节故障检测及容错策略

倪风雷^1,2, 刘伊威¹, 邹继斌², 刘宏¹

1.哈尔滨工业大学机器人技术与系统国家重点实验室;2.哈尔滨工业大学电气工程博士后流动站



摘要:

为提高空间机器人关节驱动系统的可靠性,研制具有多种传感器的模块化关节,提出基于多传感器的关节故障检测算法及关节的容错策略,并根据关节运动速度大小建立阈值自动调整策略.试验结果表明,采用该算法,克服了基于模型关节故障检测策略对模型的依赖,并保证关节在低速和高速范围内,均可快速地检测关节出现的故障,保证关节安全稳定运行.

关键词:  故障检测  容错策略  空间机械臂

DOI：10.11918/j.issn.0367-6234.2011.03.007

分类号:TP241

基金项目:国家高技术研究发展计划资助项目(2006AA04Z228)



Fault detection and fault tolerance strategies for joint with multi-sensor

NI Feng-lei^1,2, LIU Yi-wei¹, ZOU Ji-bin², LIU Hong¹

1.State Key Laboratory of Robotics and System,Harbin Institute of Technology,150080 Harbin,China;2.Electrical Engineering Post-doctoral Research Station,150080 Harbin,China)

Abstract:

To improve the reliability of drive system of space robot joint,modular joints with a variety of sensors are developed,and the fault-detection algorithm and fault-tolerance strategy for the joints are established.The experimental results show that by using this algorithm,the dependence of fault detection strategy on model can be overcome,and the joint failure can be quickly detected in the low and high-speed range,which ensures the security and stability of the joint operation.

Key words:  fault detection  fault tolerant  space robot arm