To detect the joint failure of space manipulators in real time and obtain effective fault information, a fault diagnosis method based on state observers is proposed. Through the design of a sliding mode state observer based on the sliding mode control theory, the residual information of each running status for the manipulator is obtained. A comparison of the residual information and the preset threshold is then conducted to achieve joint failure detection. In addition, different failure modes are introduced to build a failure database with which the residual information of the manipulator caused by the actual joint failure is compared, thereby realizing the location and degree identification of the failure. Taking the strong coupling characteristics of the space manipulator into account, the fault diagnosis method proposed in this paper can detect the joint failure in time and obtain effective fault information. The effectiveness and correctness of the proposed method is verified by numerical simulation of a 7-DOF space manipulator.
JIA Qingxuan
,
FU Yingzhuo
,
CHEN Gang
,
XU Wenqian
. State observer based joint failure diagnosis of space manipulators[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021
, 42(1)
: 523728
-523728
.
DOI: 10.7527/S1000-6893.2020.23728
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