Submersible tiny fault diagnosis method and device, computer equipment and storage medium

Abstract

The invention provides a submersible tiny fault diagnosis method and device, computer equipment and a storage medium, and the method comprises the steps: building a chance constraint model of a submersible based on a diagnosis model of the submersible, wherein the diagnosis model comprises a tiny fault model and a normal model; converting the chance constraint model into an expectation constraint model; based on the expectation constraint model, obtaining a function relationship of a Bhattacharyya distance between the output of the tiny fault model and the output of the normal model, maximizing the Bhattacharyya distance in the function relationship, and calculating to obtain an auxiliary signal; inputting the auxiliary signal into the submersible based on the Bayesian decision of the minimum error rate to obtain a fault diagnosis result; and achieving the active diagnosis of a miniature fault of the submersible. In addition, the auxiliary signal does not violate the linear constraint of the actuator, and the injection of the auxiliary signal does not violate the opportunity constraint of the system and the expected constraint after conversion, so that the auxiliary signal is physically realizable, and the injection of the auxiliary signal does not damage the submersible, thereby ensuring a higher fault diagnosis rate.

Description

technical field [0001] The invention relates to the technical field of deep-sea submersibles, in particular to a submersible micro-fault diagnosis method, device, computer equipment and storage medium. Background technique [0002] As an important marine scientific research platform, the safety and reliability of deep-sea manned submersibles determine the personal safety of the diving personnel and the smooth development of marine scientific research operations, and also determine my country's deep-sea exploration and development capabilities. Since deep-sea manned submersibles work in high-pressure, high-salt, and highly uncertain deep-sea environments, small system failures are likely to evolve into significant failures, which directly threaten the safe operation of the submersible in the deep-sea environment and the safety of diving personnel. Personal safety. The complex and changeable deep-sea environment is difficult to meet the conditions of timely diagnosis and faul...

AI Technical Summary

Problems solved by technology

The complex and changeable deep-sea environment is difficult to meet the conditions of timely diagnosis and fault-tolerant control of faults. Therefore, fault diagnosis and safety maintenance of deep-sea manned submersibles before launching are very important, which will directly affect the safety of submersibles and diving personnel and the completion quality of deep-sea exploration and development operations

[0003] At present, the micro-fault diagnosis methods of deep-sea manned submersibles are all passive diagnosis methods, that is, only using the original input and output data of the submersible to generate residual signals or corresponding statistics indicating faults, and on this basis, the possible faults are analyzed. Analysis; fault diagnosis is not effective when the data contains fault characteristics that are not obvious

However, due to the characteristics of low amplitude of minor faults and easy to be covered by system noise, the system representation of faults is not much different from that of the system when the system is normal, so it is difficult for passive fault diagnosis methods to diagnose minor faults of submersibles in time.

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