Method and device for diagnosing information fusion fault of underwater robot propeller

Abstract

The invention discloses a method and a device for diagnosing an information fusion fault of an underwater robot propeller. The device comprises a signal acquisition and preprocessing device and a fault identification device, wherein the fault identification device compares propeller voltage and current signals acquired by the signal acquisition and preprocessing device with voltage and current signals in the state of normal rotating speed, detects whether a fault occurs or not, and calculates size of the blocking fault. The method and the device fill the blank in fault diagnosis of the underwater robot propeller, and have the advantages that rotating speed signals of the underwater robot propeller acquired by a rotating speed sensor can be processed by a neural network of a cerabellar modearticulation controller (CMAC); the neural network of the CMAC is trained by classical fault mode data of the propeller; the trained neural network of the CMAC is used to identify the fault and calculate the blocking size of the fault so as to realize fault online diagnosis for the propeller; and the method and the device not only can diagnose the fault condition of the underwater robot propeller, but also can forecast the numerical values of the propeller in normal working state.

Description

technical field [0001] The invention relates to an underwater robot fault diagnosis method and device, in particular to an underwater robot propeller information fusion fault diagnosis method and device. Background technique [0002] The ocean is the second largest space after the land in the four major strategic spaces (land, sea, air, and sky) for human development. It is a strategic development base for biological resources, energy, water resources, and metal resources. It is the most potential for development. The space plays a direct and huge supporting role in my country's economic and social development. As an assistant to human exploration and development of the ocean, underwater robots, especially unmanned underwater robots UUV (Unmanned Underwater Vehicle) will play an important role in this field. [0003] The invention patent of Chinese Patent Publication No. CN1709766 discloses a remote autonomous underwater robot with double drive of buoyancy and thruster, whic...

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Problems solved by technology

[0006] However, these above-mentioned patents are all about the design of unmanned underwater robot devices. However, due to the complexity and unpredictability of the working environment deep in the ocean, once the underwater robot fails, not only the robot cannot complete the underwater operation task, but the robot It is also difficult to recycle itself, and the loss is huge. Its reliability technology research and design are very critical, and the research on the fault diagnosis technology of the reliability of underwater robots is almost blank.

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