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研究搭载在空间站或其他近地轨道航天器上的空间模块化机械手系统的容错控制系统。与地面应用环境相比较,空间特殊的应用环境存在许多不同,因而传统工业机械手系统的设计技术不能直接应用于空间机械手系统的设计。考虑到空间应用对系统质量、体积、功耗、研制费用和周期所提出的苛刻要求,主要采用 COTS 器件设计并实现该空间机械手系统的容错控制系统,介绍了系统的软硬件体系结构及其特点,最后给出系统的性能参数。在系统设计中采用许多已有的设计技巧与工程经验,具有高可靠性和工程实用性。
Research on fault-tolerant control systems for space-modular manipulator systems deployed in space stations or other near-Earth orbit spacecraft. Compared with the ground application environment, there are many differences in the application environment of special space, so the design technology of the traditional industrial robot system can not be directly applied to the design of the space manipulator system. Taking into account the harsh demands of space applications on system quality, volume, power consumption, development costs and cycles, the COTS device is mainly used to design and implement the fault tolerant control system of the space manipulator system. The hardware and software architecture of the system and its characteristics Finally, the system performance parameters are given. In the system design using many existing design skills and engineering experience, with high reliability and engineering practicality.