高可靠性末端效应器控制系统设计

摘要

针对末端效应器是一个典型的非线性系统，且在微重力、环境温度变化剧烈的太空中，机械机构的参数随着负载状态和环境变化而变化，很难得到一个准确的动力学模型。因此文中研究的主要内容是在空间环境中．如何实现末端效应器稳定可靠的控制，完成捕获、拉紧及锁合任务。设计了高可靠性的独立控制系统，并且从软硬件的角度来提高系统的可靠性；在高可靠性独立控制系统的基础上，通过采用合理的容错控制策略来提高末端效应器的可靠性和延长使用寿命。%According to end effector is a typical nonlinear system, and the microgravity, environmental temperature changes severe in space, the parameters of the mechanism will change with the change of load and environment, so it is difficult to get an accurate dynamic model. Therefore this paper research how to realize the stable reliable control of the end effector to completing the task of capture, taut and lock. Design the high reliability and independent control system, and enhance the reliablity of system from software and hardware. On the basis of the high reliability and independent control system, use the reasonable fault-tolerant control strategy to enhance the reliability of the end effector and prolong service life.