| 机器人关节控制器双机容错技术设计与实现 |
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| 引用本文： | 党崇伦,孙汉旭. 机器人关节控制器双机容错技术设计与实现[J]. 机电产品开发与创新, 2007, 20(6): 1-2,5 |
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| 作者姓名： | 党崇伦 孙汉旭 |
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| 作者单位： | 北京邮电大学,自动化学院,北京,100876;北京邮电大学,自动化学院,北京,100876 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 在高可靠、强实时环境中,双机系统的状态切换已成为影响系统实时性、可靠性的关键.本文介绍了机器人关节控制器控制系统的容错设计,并利用机器人一体化关节性能测试平台对双机热备状态下的故障响应进行了测试.双机通过控制数据比对,避免切换时扰动的产生,满足了机器人关节控制器高可靠性和强实时性的要求.
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| 关 键 词： | 冗余容错 双机热备 数据比对 控制器 |
| 文章编号： | 1002-6673（2007）06-001-03 |
| 收稿时间： | 2007-08-20 |
| 修稿时间： | 2007-08-20 |
Design and Realization on the Dual Fault-tolerant Technique of Robot Joint's Controller |
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| DANG Cheng-Lun,SUN Han-Xu. Design and Realization on the Dual Fault-tolerant Technique of Robot Joint's Controller[J]. Development & Innovation of Machinery & Electrical Products, 2007, 20(6): 1-2,5 |
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| Authors: | DANG Cheng-Lun SUN Han-Xu |
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| Abstract: | Under the condition of high reliability and hard real-time,the switch of dual-computer system has main effect on system real-time and reliability.This paper presents the fault-tolerant design of robot joint's controller system.And the fault-response of the hot-backup status was tested by the performance-testing system for robot joint.The switching disturbances were avoided by dual-system key data compared.It fits to high reliability and hard real-time of robot joint's controller. |
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| Keywords: | dual fault-tolerant hot-backup FPGA Controller |
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