三余度机电伺服机构试验验证

Experimental research on Triple Redundant Electromechanical Servo System

设计三余度机电伺服机构,并对其进行试验验证。设计三选二多数表决的控制策略,对输入和反馈信号进行表决;设置故障检测和隔离,检测电机相电流并进行逻辑判断,进行通道隔离。设计故障注入试验,研究在故障情况下三余度机电伺服机构能否正常工作。研究表明,采用三冗余设计使伺服机构在一度故障时能够隔离故障通道,保证伺服机构正常工作,提高了伺服机构的可靠性。

In order to verify the performance of Triple Redundancy Electromechanical Servo System, a specific fault-injection experiment is designed. The Voting two out of three control strategy works when command signal or feedback signal is not correct. The fault monitoring and defective channel cut-out control strategy works when the current of one channel is abnormal. The tests indicate that the Triple Redundant control strategy makes Triple Redundant Electromechanical Servo System operate well when one channel is abnormal and it improve the reliability of the Servo System.