基于信号重构的可重构机械臂主动分散容错控制

摘要

An active decentralized fault tolerant control scheme is proposed based on signal reconstruction for reconfig-urable manipulator systems with sensor fault. According to the modularity property of reconfigurable manipulators, an adaptive fuzzy decentralized controller is adopted to realize tracking control of each module joint trajectory at normal state. When a position or velocity sensor fault is detected, the reconstructed signals obtained by numerical integrator or differential tracker are utilized as the feedback signals to substitute for the relevant fault signals to realize active fault tolerant control. This scheme takes the advantage of redundant information sufficiently and avoids the affection to other joints brought by performance degradation of the faulted joint module. The numerical simulation results verify the effectiveness of the proposed fault tolerant control.%针对可重构机械臂系统传感器故障，提出一种基于信号重构的主动分散容错控制方法。基于可重构机械臂系统模块化属性，采用自适应模糊分散控制系统实现正常工作模式时模块关节的轨迹跟踪控制。当在线检测出位置或速度传感器故障时，分别采用数值积分器或微分跟踪器重构相应信号，并以之代替故障信号进行反馈实现系统的主动容错控制。此方法充分利用了冗余信息，避免了故障关节控制性能的下降对其他关节的影响。数值仿真结果验证了所提出容错控制方法的有效性。