Event-driven synchronous fault detection and control method for unmanned surface vehicles

An event-driven, fault detection technology, applied in the direction of test/monitoring control system, program control, general control system, etc., can solve the problems of high cost, large network communication bandwidth occupancy rate of SFDC module, large energy consumption of data transmission, etc.

Active Publication Date: 2019-02-15
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the existing fault detection and control methods of surface unmanned boats are carried out separately, resulting in high cost, large occupanc

Method used

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  • Event-driven synchronous fault detection and control method for unmanned surface vehicles
  • Event-driven synchronous fault detection and control method for unmanned surface vehicles
  • Event-driven synchronous fault detection and control method for unmanned surface vehicles

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specific Embodiment approach 1

[0036] Specific implementation mode one: the specific process of this implementation mode is: inventing a synchronous fault detection and control method based on an event-driven surface unmanned vehicle, specifically according to the following steps:

[0037] Step 1. The motion coordinate system of the surface unmanned vehicle is as follows: figure 1 As shown, here we only consider the traversing, swinging and rolling motions of the surface unmanned vehicle.

[0038] Establish the state space equation of the surface unmanned vehicle system according to the kinematic equation;

[0039] Step 2. Based on the state space model of the surface unmanned vehicle system established in step 1, design an SFDC module based on integral event-driven, and establish an augmented residual system under event-driven conditions;

[0040] Step 3. According to the performance index requirements of the surface unmanned vehicle, design the gain matrix based on the integral event-driven SFDC module,...

specific Embodiment approach 2

[0045] Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that the motion coordinate system of the surface unmanned boat in the step 1 is as follows: figure 1 As shown, here we only consider the traversing, swinging and rolling motions of the surface unmanned vehicle.

[0046] According to the kinematic equation, the state space equation of the surface unmanned vehicle system is established, and the expression is:

[0047]

[0048] In the formula, is the state of the USV system,

[0049] Where v(t) is the traversing velocity produced by the rudder of the surface unmanned vehicle, is the swing velocity of the surface unmanned vehicle, ψ(t) is the course angle of the surface unmanned vessel, p(t) is the roll velocity of the surface unmanned vessel, φ(t) is the roll angle of the surface unmanned vessel ; is the derivative of the USV system state;

[0050] w(t)=[w ψ (t),w φ (t)] T External disturbance for the surface unmanned ve...

specific Embodiment approach 3

[0061] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is that the surface unmanned vehicle system matrix A, B, E 1 The expression is as follows:

[0062]

[0063] Among them, K vr , K vp , K dv , K dr , K dp For a given gain, T v , T r For a given time constant, ζ and w n are the damping coefficient and the undamped natural frequency, respectively.

[0064] Other steps and parameters are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

Provided is an event-driven synchronous fault detection and control method for unmanned surface vehicles. The invention relates to a fault detection and control method for unmanned surface vehicles. The objective of the invention is to solve the problems of high cost, high bandwidth occupancy rate of network communication of the SFDC module, high energy consumption of data transmission and waste of energy in the existing fault detection and control of unmanned surface vehicles carried out separately. The method includes the following steps: (1) establishing a state space equation of an unmanned surface vehicle system; (2) designing an integral event-driven SFDC module, and establishing an augmented residual system under event-driven conditions; (3) designing a gain matrix of the integral event-driven SFDC module, and obtaining a residual signal and a control input; (4) designing an integral event-driven mechanism to bring the gain matrix into existence; (5) designing a residual evaluation function; and (6) designing a residual evaluation function threshold to complete fault detection of an unmanned surface vehicle. The scheme is used in a synchronous fault detection and control method for unmanned surface vehicles.

Description

technical field [0001] The invention relates to a fault detection and control method for a surface unmanned boat. Background technique [0002] Due to its small size, good concealment, low cost, and high mobility, the surface unmanned vehicle has been widely used in various fields, such as environmental monitoring, hydrographic survey, marine resource exploration, pollutant tracking, coastal monitoring, Surface rescue, etc. However, due to factors such as seawater erosion, extremely low operating temperature, and long working hours, the surface unmanned vehicle system will inevitably fail. In order to improve the robustness and reliability of the USV, we need to design a fault detection filter to detect possible faults in the USV system in time. The fault detection and control of existing surface unmanned boats are carried out separately, and the cost is high. [0003] Usually, the SFDC (Synchronous Fault Detection and Control) module is located on the mothership or on la...

Claims

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Application Information

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IPC IPC(8): G05B23/02
CPCG05B23/0243G05B2219/24065
Inventor 费中阳王旭东关朝旭杨柳刘鑫宇
Owner HARBIN INST OF TECH
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