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Interval observer based AUV (Autonomous Underwater Vehicle) performer fault detection method

An underwater robot and fault detection technology, applied in the direction of instruments, electrical testing/monitoring, testing/monitoring control systems, etc., can solve problems such as the complexity of the deep sea environment, the propulsion mechanism prone to failure, and economic losses

Active Publication Date: 2019-08-06
SHANDONG UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

However, due to the complexity and uncertainty of the deep sea environment, the propulsion mechanism is extremely prone to failure
When the AUV actuator fails during operation, its safety and reliability are difficult to guarantee, which will cause huge economic losses

Method used

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  • Interval observer based AUV (Autonomous Underwater Vehicle) performer fault detection method
  • Interval observer based AUV (Autonomous Underwater Vehicle) performer fault detection method
  • Interval observer based AUV (Autonomous Underwater Vehicle) performer fault detection method

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Embodiment 1

[0083] Aiming at the failure of AUV actuators, the present invention provides a fault detection method for AUV actuators of autonomous underwater robots based on interval observers. The flow chart is shown in figure 1 , the method includes:

[0084] Step S1, establish the dynamic model of AUV in the vertical plane

[0085] The motion of AUV in the vertical direction is powered by the propeller in the vertical direction, and its nonlinear motion equation in the vertical plane is:

[0086]

[0087] Where m is the mass of the underwater robot (kg), θ is the pitch angle of the underwater robot (rad), q is the pitch angular velocity of the underwater robot (rad / s), z is the diving depth of the underwater robot (m ), s is the diving speed of the underwater robot (m / s), δ s is the rudder angle (rad), I yy is the moment of inertia of the y-axis rotation of the underwater robot, u is the cruising speed of the underwater robot (m / s), W and B 0 are the gravity and buoyancy of the ...

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Abstract

The invention provides an interval observer based AUV performer fault detection method. The fault detection module comprises that a dynamic model of an AUV in the vertical plane is established; an interval observer is designed according to the dynamic model; and a fault of a performer is detected according to data of the interval observer. The provided method can be used to find faults timely, andeffectively meet the practical application demands.

Description

technical field [0001] The invention belongs to the field of underwater robot control, in particular to a fault detection method for an autonomous underwater robot AUV actuator based on an interval observer. Background technique [0002] In recent years, countries around the world have stepped up exploration of the deep sea. Autonomous underwater vehicle (AUV) is the most effective equipment for exploring underwater resources and carrying out various underwater technologies and work. Therefore, it has been widely used in various fields such as military and civilian use. play an important role. [0003] Propulsion mechanism is an important part of AUV. However, due to the complexity and uncertainty of the deep sea environment, the propulsion mechanism is extremely prone to failure. When the AUV actuator fails during operation, its safety and reliability are difficult to guarantee, which will cause huge economic losses. [0004] Based on the above situation, in order to me...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B23/02
CPCG05B23/0243G05B2219/24065
Inventor 王向华张春明任衍恒
Owner SHANDONG UNIV OF SCI & TECH
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