摘要
针对一种由5个单元体组成的多单元体运动机构,介绍了其组成情况及运动控制原理。阐述了有限状态机方法及故障容错控制技术,并以此为基础建立了适于该多单元体机构的故障容错控制模型,编制了相应的仿真算法,验证了该方法的可行性和模型的正确性,从而为研究该类多单元体运动机构的运动步态问题提供了理论参考。
This paper presents a kind of 5 - unit mechanism in motion including its system structure and motion controlling principle, and explains the method to operate the finite - state machine and the fault - tolerance control technology. Based on these conceptions, the model of fault - tolerance control is built and the corresponding simulation algorithm is formulated. The result from simulation has proved that this method is practical and the model is correct, thus providing a good foundation for a further study of the motion fault - tolerance of any multi - unit mechnism in motion.
出处
《工业仪表与自动化装置》
2008年第6期3-7,共5页
Industrial Instrumentation & Automation
关键词
多单元体运动机构
有限状态机
故障容错
multi - unit mechanism
finite - state machine
fault - tolerance