基于数字激素调节机理的晶格式电池阵故障诊断与自修复方法

The fault diagnosis and self-repairing of crystal form space solar array is an important research topic on keeping the space solar power station working reliably. Based on the hierarchical "self-configuration" architecture of non-compact crystal form modular robots, a fault diagnosis and self-repairing theory based on digital hormone regulatory mechanism will be proposed, which includes: 1 To propose a crystal form array modular subgroup self-configuration method based on simulated growth strategy, construct models for secretion, diffusion, activation and attenuation of space solar array hormone regulatory mechanism, and propose fault diagnosis methods based on synchronized healthy signal and digital hormone regulation, all of which will lay the foundations for the self-diagnosis of M-Lattice crystal form array; 2 To propose a crystal form solar array fault information transmission method based on Dijkstra distance, which will solve the efficiency problem on distributed network information under concurrent fault circumstances; 3 To create an element movement model for crystal form cavity, optimize the transition configuration of new-typed M-Lattice element movement, and propose a path planning algorithm for cavity moving paths based on reinforcement learning, which will avoid the system unstability of massive cavities gathering. Further, crystal form array fault diagnosis and self-repairing software simulation and hardware experiment platforms will be created, and algorithm's experiments will be performed on the platforms, which will then improve the theory proposed.

晶格式电池阵的故障诊断与自修复是保障空间太阳能电站可靠运行的重要研究内容之一。在建立非紧密型晶格式模块机器人层次化"自构型"架构的基础上，提出基于数字激素调节机理的晶格式电池阵故障诊断与自修复理论与方法，包括：1提出基于模拟生长策略的晶格式电池阵模块子群的自构型方法，建立电池阵数字激素调节的分泌、扩散、激活和衰减模型，提出基于同步健康信号及数字激素调节的故障诊断方法，为M-Lattice晶格式电池阵的自诊断奠定基础；2提出基于Dijkstra距离的晶格式电池阵故障信息传递方法，解决故障并发情况下分布式网络信息的传送效率问题；3建立晶格式空穴的元运动模型，优化新型M-Lattice元运动的过渡构型，提出基于强化学习的空穴移动路径规划算法，避免因大量空穴聚集而引起的系统不稳定。最后，建立晶格式电池阵的故障诊断和自修复软件仿真与硬件实验平台，并进行算法的移植实验，对所提理论方法进行改进和完善。

晶格式电池阵的故障诊断与自修复是保障空间太阳能电站可靠运行的重要研究内容之一。经过本项目的研究，提出了基于数字激素调节机理的晶格式电池阵故障诊断与自修复理论与方法，具体成果包括：. 提出了一种改进的M-Lattice 模块机器人，它包括许多相同的基本模块晶格式结构。提出了一种基于数字激素的新颖自修复方法来修复这种模块机器人阵列。受生物系统中荷尔蒙概念的启发，引入了内分泌细胞。数字激素模型（DHM）为每个模块提供评估值，以便指导自修复过程中的运动。提出了数字激素分泌和衰减的概念，实现了机器人空穴和故障模块的避碰。通过对所提出的自修复方法的性能的评估仿真，证明了该方法具有良好的可扩展性，对于其他类似的大规模模块机器人的运动规划和自修复具有一定的科学意义和应用前景。