A fault tolerant and fault rectificative strategy for senBor faults of the 2RPS + 2TPS type satellite tracking platform is presented. In this strategy, a flexible cable is attached between the center of fixed platform and the center of movable platform. A spring and a redundant sensor are connected to one end of the flexible cable. If a fault occurs in one of sensors of the four driving legs' , the real value from fault sensor can be computed by the measured values from sensors of the other three driving legs ' and the redundant sensor according to a spatial closed chain constrain relationship. Then corresponding reconfiguration algorithms for displacement sensors and velocity sensors are deduced. Simulation researches for fault-tolerant and fault-rectificative performance of above strategy are conducted by emulation of a gradual type sensor fault and a abrupt type aensor fault. Simulation results show chat the fault-tolerant and fault rectificative strategy proposed in this paper can guarantee reliability and safety of satellite tracking platforms system effectively.%针对2RPS+2TPS型卫星追踪平台可能出现的传感器故障提出了一种容错纠错策略.该策略通过在卫星追踪平台的固定平台和动平台中心附加一柔索,柔索一端连接弹簧和冗余传感器,实现了对卫星追踪平台四条驱动腿传感器故障的容错纠错功能.如果驱动腿中的某一个传感器发生故障,则可根据空间闭链机构约束,由其它正常工作驱动腿的传感器和冗余传感器的测量值计算出故障传感器的应测值.推导出了位移和速度传感器故障的容错纠错重构算法.通过模拟渐变型和突变型的传感器故障,对提出的容错纠错方案进行了仿真研究,仿真结果表明提出的容错纠错策略能有效地保障卫星追踪平台系统运行的可靠性和安全性.
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