Research On Redundant Space Manipulator Fault-Tolerant Control System

Space Manipulator is an important part of spacecraft and space experiment platform, it plays an important role in completion of spacecraft docking, capture the specified target object and so on. Complicated and changeable space environment makes it difficult to maintain huge equipment in long-term use, which leads various reasons to encourage people to increase fault tolerance capability and reliability of aerospace systems. Therefore, the knowledge of space manipulator fault-tolerant control technology make it easier to finish on-orbit mission in a reliable guarantee. The research has important significance and application value.This paper studies about the redundancy space manipulator system, focus on manipulator joint failure case performance parameters mutation suppression and fault-tolerant planning key technology research. Then build a fault-tolerant redundant space manipulator simulation system. The main content of this paper includes the following aspects:Firstly, it will simplify the conservation of linear momentum space manipulator kinematics model of the three control modes. Proposed a analysis method of the degradation of space manipulator workspace base on workspace numerical analysis and make the use of extreme value theory to solve fault-tolerant workspace. Theses method is verified by numerical simulation.Secondly, it studies joint locks occur may generate mutations after failure parameters and metrics, then based on perturbation method theory completed manipulator joint velocity and torques equations which are derived mutant inhibited. The method is proved by numerical analysis with redundant space manipulator.Thirdly, the paper presents a fault-tolerant redundant space manipulator path planning strategy based on a optimal control method by inputting the space manipulator control constraints and fault-tolerant control targets which is suitable for joint failure fault space manipulator. The method solves the problem tolerant optimal path control objectives joint angles by regional search genetic algorithm.Finally, it bases on OpenGL simulation technology to design and implementation of fault-tolerant redundant space manipulator control simulation system. By Carries out a framework for designing fault-tolerant control system according to functional requirements with MFC application framework. The simulation system is verified by simulation experiment.