A Fault Identification Method for Autonomous Underwater Robot Based on Wavelet Energy
An underwater robot, fault identification technology, applied in the direction of instruments, electrical testing/monitoring, control/regulation systems, etc. Noise and other problems, to achieve the effect of improving the accuracy of fault identification
Active Publication Date: 2017-04-12
HARBIN ENG UNIV
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[0007] The purpose of the present invention is to overcome the deficiencies of the prior art, provide a fault identification method for autonomous underwater robots based on wavelet decomposition and energy, and solve the problem that autonomous underwater robots are affected by external interference and measurement noise, and only extract time domain The problem of low accuracy of signal nonlinear fault feature identification
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[0033] The present invention provides a wavelet energy-based identification method for the fault degree of an autonomous underwater robot propeller. Specifically, the state signal of an autonomous underwater robot is decomposed by multi-layer wavelets to suppress the influence of external random interference on the identification accuracy. And get fault descriptions in multiple frequency bands of autonomous underwater robot propeller faults, so as to improve the accuracy of fault identification; at the same time, extract energy from wavelet approximation coefficients and wavelet detail coefficients obtained by multi-layer wavelet decomposition to form a fault energy matrix, through The correlation coefficient is calculated with the energy fault characteristic moment in the sample energy matrix established through the pool experiment in the early stage, so as to obtain the fault identification result of the propeller of the autonomous underwater robot. The invention solves the p...
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The invention relates to the technical field of autonomous underwater robot fault identification and fault-tolerant control, and specifically relates to an autonomous underwater robot fault identification method based on wavelet energy. The method comprises the following steps: employing a multi-layer wavelet decomposition method to achieve the data decomposition of the sensor and controller of an autonomous underwater robot; employing a method of fault feature extraction to achieve the extraction of fault features of an original signal, a wavelet detail coefficient and a wavelet approximation coefficient; and employing a correlation coefficient method to achieve the fault identification of a to-be-detected fault signal of the autonomous underwater robot. The method provided by the invention effectively solves the problems that an AUV sensor and the controller are affected by external interference and the precision of fault identification is lower. The redundancy description of a fault of an AUV propeller is obtained through the multi-band characteristics of multi-layer wavelet decomposition. Through multi-band fault information, the fault features is extracted at the same time, and a fault feature matrix is built up, thereby improving the identification precision of an AUV fault, and providing accurate fault information for a fault-tolerant controller.
Description
technical field [0001] The invention relates to the technical field of fault identification and fault-tolerant control of an autonomous underwater robot, in particular to a fault identification method for an autonomous underwater robot based on wavelet energy. Background technique [0002] With the dwindling land resources, the pace of human development of the ocean is getting faster and faster. Autonomous underwater vehicle (AUV: Autonomous Underwater Vehicle) is currently the only carrier that can detect and develop in the deep sea without human beings, and has been highly valued by researchers at home and abroad. The propeller is the most important executive part of AUV and has the heaviest load. Once it fails, it will directly affect the safety of AUV. Most of the fault-tolerant control methods based on the secondary distribution of thrust require accurate propeller failure degree. The identification of AUV propeller failure degree under external interference is of grea...
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IPC IPC(8): G05B23/02
CPCG05B23/0208
Inventor 张铭钧刘维新刘星殷宝吉王玉甲赵文德姚峰
Owner HARBIN ENG UNIV