基于残余动量的两连杆柔性臂驱动器故障检测

Based on the Residual Momentum of Driver Fault Detection for Two-link Flexible Manipulator

综合考虑柔性臂质量与末端负载质量，采用Largrange方程和假设模态法，建立两连杆柔性臂动力学方程。基于动量导数，设计了残余动量算子。利用Matlab／Simulink中的弹性铰链搭建了柔性臂仿真平台；对驱动器无故障、单个故障及多个故障进行了仿真，对比分析了刚性臂和柔性臂相应残余动量的变化曲线。结果表明，残余动量适用于柔性臂；驱动器无故障时，残余动量近似为0；有故障时，残余动量变化曲线能反应出故障时间内驱动器力矩应有的大小和趋势，且对直接驱动连杆的残余动量影响最大。

For two-linkflexible manipulators in the vertical plane, the deadweight of arms and the weight of end loads are comprehensively considered, the dynamics model is established based on the lagrange equations and assumed modes method. And based on the derivative of momentum, residual momentum operatoris designed, and the influence of flexibility deformation on the rotational angle in the calculation of residual momentum is taken into account. Using flexible hinges, the simulation platform is set up in Matlab/Simulink. Aiming at simulation of manipulators swing under the drives are trouble- free, drives have a single fault and drives have multiple faults, then give the change curves of corresponding residual momentum respectively. The results show that the residual momentum operator model established could be applied to rigid arms and flexible arms. When drives are trouble-free, the residual momentum is approximate to 0. When drives have faults, the size and trend of residual momentum reflect the size and trend of input torque when there is no fault approximately. The driver fault mostly affects the link directly driven by the driver with fault.