Fault diagnosis system and method for propeller of unmanned ship

Abstract

The invention relates to a fault diagnosis system and method for a propeller of an unmanned ship, and the method comprises the steps: carrying out the forward prediction of the motion state of an unmanned ship and the expected output value of a propeller through a ship end thrust loss sub-estimator in each calculation period, and obtaining the predicted value of the motion state of the unmanned ship and the predicted value of the expected output of the propeller; inputting an expected output sampling value and a predicted value of the thrust of the propeller of the unmanned ship corresponding to the current calculation period into a Kalman filter, and carrying out calculating by the Kalman filter to obtain a rough estimated value of the thrust loss; if the event driving condition is met, sending an unmanned ship motion state sampling value, a predicted value, a propeller expected output sampling value and a predicted value corresponding to the current calculation period to a shore end thrust loss main estimator; enabling the shore-end thrust loss main estimator to adopt a particle filter to estimate an accurate estimated value of thrust loss in real time; and grading the fault degree according to the size of the thrust loss accurate estimation value, and transmitting the grading result and the thrust loss accurate estimation value to the boat end.

Description

technical field [0001] The invention discloses a fault diagnosis system and method for an unmanned boat propeller, belonging to the field of marine intelligent aircraft state estimation. Background technique [0002] The working range of unmanned boats is often in waters with complex and changeable environments, which often brings unpredictable effects on unmanned boats. With the improvement of the operating capability of the unmanned vehicle, its complexity has also increased, and its safety has also received in-depth attention. We hope that the unmanned boat can detect possible faults as early as possible, so as to reduce the potential risk of the unmanned boat, and at the same time facilitate the subsequent fault-tolerant process, and the realization of its autonomous fault diagnosis is its core. Use the state equation to estimate the state of the unmanned vehicle and use the known observations for correction to predict the unknown system state variables, so as to diagno...

AI Technical Summary

Problems solved by technology

[0003] The particle filter uses the motion state of the unmanned boat, and has a high estimation accuracy for the thrust loss of the propeller, but it also has the disadvantage of a large amount of calculation. For the limited computing resources of the small unmanned boat , will generate a large burden

If it is placed on the shore, the motion state of the unmanned boat will be transmitted to the shore in real time through radio communication. In this way, the computing load of the computer of the unmanned boat can be reduced, and its computing resources can be more effectively utilized. Allocation to enhance its operational capabilities, but it also brings about the problem of occupying the bandwidth of the communication channel, and the time delay caused by long-distance data transmission.

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