Redundant controlled microminiature underwater robot, and method for failure diagnosis and fault tolerant control

An underwater robot and redundant control technology, which is applied to underwater ships, underwater operating equipment, motor vehicles, etc., can solve the problems that actuators do not have redundant functions, are difficult to efficiently fault-tolerant, and have poor fault-tolerant capabilities, and achieve Light weight, easy disassembly and assembly, and the effect of reducing water resistance

Inactive Publication Date: 2009-06-24
如皋市生产力促进中心
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

There is no functional redundancy between the actuators of this underwater robot. Once a certain actuator fails, it will be difficult to achieve efficient fault tolerance, resulting in irreparable losses such as damage or even loss of the robot.
[0005] The patent application number is CN 2892668Y, and the patent titled "rudder wing type micro underwater robot" has no redundant function between actuators, poor fault tolerance and low safety

Method used

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  • Redundant controlled microminiature underwater robot, and method for failure diagnosis and fault tolerant control
  • Redundant controlled microminiature underwater robot, and method for failure diagnosis and fault tolerant control
  • Redundant controlled microminiature underwater robot, and method for failure diagnosis and fault tolerant control

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Embodiment Construction

[0043] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0044] to combine Figure 1-2 , 2-1, 2-2, the shell of the underwater robot is composed of the lower shell 1, the upper front shell 2, and the upper rear shell 3. The lower shell 1 is designed with six support columns 23, and the guide columns with threaded holes at both ends 24 is threadedly connected with the support column 23 that passes through the skeleton puller 16, and four mounting holes are designed at the corresponding positions on the upper rear shell 3, and the screw 25 passes through the mounting holes of the upper rear shell and is connected with the guide post 24, so that the upper rear shell 3 Assembled with the lower shell 1, two installation holes are designed on the upper front shell 2, and the screw 25 passes through the upper front shell guide column 24 to connect, so that the upper front shell can be installed on the lower shell and the uppe...

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Abstract

The invention provides a redundant controlled micro underwater robot and a fault diagnosis and fault-tolerant control method. A shell has a streamline shape spliced by a lower shell, an upper front shell and an upper back shell; an inclination compass cabin, a depth gauge, a battery tank, a Doppler speed meter, an electronic cabin, horizontal propeller impellers and a turning rise-sink control actuator are arranged inside the shell from the front to the back; and the depth gauge, the battery tank and the Doppler speed meter are arranged in parallel and positioned at the back of the inclination compass cabin together, the turning rise-sink control actuator is positioned in the middle of two horizontal propeller impellers, and the two horizontal propeller impellers and the turning rise-sink control actuator are arranged transversely in parallel and positioned at the tail of the underwater robot together. The robot and the method have the characteristics of high intellectualization degree, strong fault-tolerant capability, good safety, flexile motion, and convenient structural adjustment.

Description

(1) Technical field [0001] The invention relates to a miniature underwater robot, and also relates to a fault diagnosis and fault-tolerant control method of the miniature underwater robot. (2) Background technology [0002] The ocean area on the earth accounts for 70.8% of the earth's surface area. The ocean is the treasure house of human food resources, and there is inexhaustible natural energy in the ocean. Undoubtedly, with the exhaustion of land resources, the role of the development and utilization of marine resources in promoting economic growth will become more and more obvious. [0003] As the main tool for marine development, underwater robots need to work in complex and changeable underwater environments for a long time, which requires underwater robots to have a high degree of safety and reliability. Since the fault-tolerant control can significantly improve the survivability of the underwater robot, and it can still maintain a good execution effect of the underw...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63G8/00B63C11/52
Inventor 张铭钧杨立平王玉甲段清柱徐建安楮振忠赵文德刘晓白
Owner 如皋市生产力促进中心
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