Design Of Redundancy Controller Of A Single Joint System Of Space Robot

Joint controller is an important component part of space robots, which plays an important roll for the Availability, reliability and stability of the entire system. The research work is sustained by Program 706 of National 863 Plan. It aims at offering appropriate space, special condition and more reliable redundancy controller for the on track service robots of our national spacecraft, on the basis of studying the redundancy control technique of the space robot controller. The text aims at the study of double redundancy controller of the space robots and the redundancy control, malfunction protection and fault tolerance technique.The text introduce the general feature and method of redundancy control technique, make a brief statement on the assignment executed by the single joint redundancy controller, analyze the superiority and insufficiency of the systematic transfer function identification of present robots, and raise a method of smaller calculated amount, higher precision and lower cost for the single joint inertial parameter identification of space robots: Through the way of inputting a pseudo-random sequence of M into system, try to arouse all of the systematic modality in sampled cycle, evaluate the transfer function with the sampled data, adjust the transfer function online to reduce the error of the real system with the modal self-adaptation theory , and prove the arithmetic with emulation technique. Chapter Three makes an introduction of the hardware circuit of the single joint controller through several parts which include major controller hardware circuit, motor controller hardware circuit, left limit detection circuit, zero position detection circuit, right limit circuit, brake circuit, CAN modular circuit, electric current detection modular circuit and position detection modular circuit. Chapter Six makes a systematic testing on the achieved performance. Chapter Five introduces the software part of the system, major in analyzing the redundancy management technique, potential malfunction, malfunction performance, effect to the system and solution to the malfunction, and prove the availability and reliability by experiment of inputting the emergency to system factitiously.At the end of the text, the result of operation testing to the system proves the hardware and software have complete function, steady operation and high fault tolerance performance, and mainly reach the"malfunction work"design purpose.The paper's Innovation is establishing a mathematical model of the actual whole system , using the new developing system identification theory, and identifying and adjusting the system transfer function on-line for the mutation characteristics of the space environment, without affecting system's real-time character.