Fault-tolerant strategy based on dynamic model matching for dual-redundant computer in the space robot

Based on the requirements of space robot control system such as high reliability, low power consumption, small size and real-time, this paper presents a dual redundant fault-tolerant strategy for space robot controller. According to the peculiarity of the space robot control systems and its workflow, this strategy is based on the fault-tolerant hardware architecture and the linear running model of space robot software. The two computers communicate with each other by 485 bus and heartbeat line, and share field data through CAN bus in this architecture. The imported criterions include the heartbeat signal, the pattern matching, the dynamic synchronization data and the results returned from the other device. The fault-tolerant strategy which has redundancy criterion is formulated in this paper. This design can not only ensure the time performance of switching between two computers, but also can lower the communication data and improve the reliability and effectiveness of dual-redundant fault-tolerant system.