【摘要】 针对空间机械臂关节电机伺服系统的可靠性和关节体积重量的矛盾,分析了3种典型空间机械臂关节电机驱动系统的可靠性,确定了机械臂关节电机采用双绕组无刷直流电机结构的方案,建立了双绕组结构无刷直流电机数学模型,设计了双绕组结构无刷直流电机驱动控制系统和容错控制策略,研制了双绕组结构电机关节伺服系统控制平台,进行了容错控制实验和关节位置伺服控制实验。实验结果表明:在重量和体积要求苛刻条件下,采用双绕组结构无刷直流电机伺服系统设计方案,不仅可提高关节的集成度和可靠性,而且没有降低关节位置伺服跟踪性能。更多还原

【Abstract】 There are some contradictions between the servo motors reliability and the joint volume for the space manipulator system.The reliability of joint motor drive system of the 3 typical space manipulator systems was analysed,the program of using the dual winding brushless DC motor structure for the robot arm joint motor was determined,the mathematical model of the dual winding brushless DC motor structure is established.Moreover,the dual winding brushless DC motor control system and the fault-tolerant control strategy were designed,and the dual-winding structure of joint servo motor control platform was developed.The fault-tolerant control test and joint position servo control test were carried out.The experimental results show that this design can not only significantly improve the joint integration and reliability but also reduce the joint position servo tracking performance under the condition that the weight and volume of the joint are exact.更多还原