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A planar manipulator system and its distributed fault-tolerant control method

A robotic arm and decentralized technology, applied in the field of control, can solve problems such as less research, achieve strong robustness, overcome uncertainty, and achieve good control effects

Active Publication Date: 2021-09-17
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Description
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  • Application Information

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Problems solved by technology

For interconnected systems, the classic fault-tolerant control structure can be divided into three types: centralized, decentralized and distributed. At present, scholars at home and abroad mostly adopt the centralized method for the fault-tolerant control of planar manipulators, and have achieved certain results, but There are few studies on distributed and decentralized fault-tolerant control structures

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  • A planar manipulator system and its distributed fault-tolerant control method
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  • A planar manipulator system and its distributed fault-tolerant control method

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Embodiment Construction

[0087] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments. The embodiments described in the present invention are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by persons of ordinary skill in the art without making creative efforts all fall within the protection scope of the present invention.

[0088] Such as figure 1 As shown, a kind of planar manipulator system based on multi-model switching in the present invention includes an actuator, an angular velocity control system, an identifier, a switcher, a distributed controller and a selection switch, and the selection switch includes an input terminal and a More than one connection end; the actuator, the angular velocity control system, the recognizer, the switcher, the distributed controller and the selection switch are sequentially connected, and th...

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Abstract

The invention discloses a plane manipulator system and a distributed fault-tolerant control method thereof, belonging to the field of plane manipulator fault-tolerant control. According to different angular positions, a series of linear models are constructed to approximate the original nonlinear model, so that the coupling relationship between each sub-manipulator can be obtained, and then the corresponding distributed fault-tolerant control law is designed for each linear model, including two types of execution A switching law is proposed to make the system stable under the condition of controller switching. The invention overcomes the limitation of reduced tracking efficiency of the planar manipulator when the actuator or the sensor fails during the tracking process, and improves the operating reliability of the planar manipulator system.

Description

technical field [0001] The invention belongs to the field of control, in particular to a multi-model switching-based planar manipulator system and a distributed fault-tolerant control method thereof. Background technique [0002] Planar manipulator is a kind of complex mechanical interconnection system, which has the characteristics of multiple input and multiple output, highly nonlinear and strong coupling. Today, the robotic arm has become an important tool of the International Space Station because it can enhance the reliability of tasks and save costs. It has demonstrated strong application value and broad application prospects, and has played an important role in the development of space technology. [0003] For a mechanical system, reliability and stability are the most important performances. In other words, as a robotic arm that replaces humans to perform tasks in space, how to ensure better stability and reliability is a hot issue that scientists are currently stud...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/1605B25J9/1633B25J13/00
Inventor 杨浩孟雅珺姜斌
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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