长寿命空间机械臂在轨故障诊断、容错和预测策略研究

项目名称： 长寿命空间机械臂在轨故障诊断、容错和预测策略研究

项目编号： No.51505098

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 机械、仪表工业

项目作者： 郭闯强

作者单位： 哈尔滨工业大学

项目金额： 20万元

中文摘要： 我国空间机器人的研制正向着长寿命、业务服务型时代迈进，有效的故障诊断和容错控制是关系到空间机械臂能否长期安全运行的关键科学技术。在长寿命空间机器人安全保障技术方面,我国尚处起步阶段，亟需建立一套科学、完善、具有实用价值的安全保障规范，实现机械臂的在轨健康状态评价与故障预测。. 本项目以空间站建设和外行星探测为应用背景，针对分布式控制模式的多自由度、长寿命空间机械臂系统的安全控制问题，开展机械臂系统可靠性与容错设计、安全运行控制和在轨健康状态评价与故障预测等方面的研究工作。旨在研制具有在轨资源重构能力的关节控制系统，构建机械臂故障响应与容错控制架构，实现机械臂关节传感、控制与驱动系统故障的在线实时检测，提出基于在轨参数辨识、能效分析等技术的长寿命空间机械臂关节健康状态评价与故障预测策略。该课题的深入研究对提高我国空间机械臂系统的智能化水平和运行安全性具有重要的科学意义和实用价值。

中文关键词： 空间机器人；柔性关节；安全策略；故障检测；容错

英文摘要： The development of space robots in China is stepping into a fresh age, which lays emphasis on the demands of long life and practical service for the space robots. Effective fault-diagnosis and fault-tolerance technology is the key scientific issue determining whether the space manipulator can run safely for a long time. In China, the research on the security operation technology for the long-life space robots is still in its infancy. Hence, there is an urgent need for establishing a set of scientific, refined, and practical fault-safe criteria for the long-life space robots, thereby realizing on-orbit performance evaluation and fault prediction of the space manipulator. . The proposal is presented on the basis of application requirements in space station construction and exoplanet detections; thus a long-life space manipulator with multi-degree of freedom is chosen to be the research object. To solve the security control problems of the selected manipulator in a distributed control mode, the proposal needs to finish a series of research work, including the reliability and fault-tolerance design, the control of safe running, as well as the evaluation and prediction of on-orbit performance for the manipulator system. The proposal aims to develop a joint control system with the self-reconfigurable ability of on-orbit resources, and construct a fault-response and fault-tolerance control structure for the manipulator. Moreover, the online fault detection of the sensors, controllers, and drivers should also be approached. The strategy of performance evaluation and fault prediction for the space manipulator could be proposed on the basis of on-orbit parameter recognition and energy efficiency analysis. Therefore, to research into the topic of this proposal is of very important scientific significance and practical value for improving the intelligence level and operational safety of space manipulator system.

英文关键词： Space Robot;Flexible Joint;Safety Strategy;Fault Detection;Fault Tolerance