CAJ | 학술논문

空间机械臂在空间设施中广泛应用，如何准确快速判断其运行状态成为需要解决的重要问题。文中首先介绍了机械臂在国内外空间设施的应用背景，然后采用基于故障树与贝叶斯网络的故障诊断方法，包括：基于系统组成结构的故障树建模、贝叶斯网络转化、团树传播算法和最大后验估计(MAP)推理结果分析。最后利用单点故障实验和多点故障实验对所提方法进行了验证，结果表明将故障树分析和贝叶斯网络结合应用到空间机械臂故障诊断是有效的、可行的。
공간궤계비재공간설시중엄범응용，여하준학쾌속판단기운행상태성위수요해결적중요문제。문중수선개소료궤계비재국내외공간설시적응용배경，연후채용기우고장수여패협사망락적고장진단방법，포괄：기우계통조성결구적고장수건모、패협사망락전화、단수전파산법화최대후험고계(MAP)추리결과분석。최후이용단점고장실험화다점고장실험대소제방법진행료험증，결과표명장고장수분석화패협사망락결합응용도공간궤계비고장진단시유효적、가행적。
Space manipulator has been widely used in outer space facilities,how to judge its state fast and correctly is the most important and difficult problem. It introduces the applied background of manipulator in outer space facilities both in China and abroad briefly. Then it illustrates the fault diagnosis procedure combining Bayesian network with fault tree,which includes constructing fault tree model based on system structure,Bayesian network transformation,clique tree propagation and MAP inference result analysis. Finally,verify it with single-point and multi-point fault experiments and demonstrate it is effective and feasible by combining fault tree and Bayesian network in manipulator fault diagnosis.