Reconfigurable fault-tolerant joint control system for space robot

To reduce mass and cubage, a joint for space robot is design with a double star windings permanent magnet synchronous machine (DS-PMSM), a double windings permanent magnet break, two resolvers with double windings, a torque sensor with double strains. Two complete sub-control systems have been constructed based on Field Programmable Gate Array (FPGA). An isolatable interface port is designed between the two FPGAs, based on which the reconfiguration of the resource between the two sub-systems can be achieved. So some non-coincidence faults in the two sub-control systems will not affect the joint's function. Power supply and a control method are designed to tolerant the fault of single FPGA and ensure the incessantly work of joint. Experiment results have validated the fault tolerant ability of the designed joint control system.