ESO-based autonomous underwater robot execution mechanism fault diagnosis method

Abstract

The invention discloses an ESO-based autonomous underwater robot actuator fault diagnosis method, which comprises the following steps of: a residual error between an actual value and an estimated value is calculated by using an ESO, and fault detection is carried out according to an evaluation threshold value; a self-adaptive threshold value is designed according to disturbance information and fault information of an execution mechanism to adapt to changes of residual errors, and misdiagnosis and missed diagnosis are avoided; and an error equation is constructed by adopting an extended state observer, and a fault reconstructor is designed through a linear transformation matrix and an equivalent control output error injection principle to reconstruct a fault. According to the method, fault detection and reconstruction of the autonomous underwater robot actuating mechanism can be effectively realized, and the problems of fault diagnosis and engineering application of the actuating mechanism are effectively solved, so that safe operation of the autonomous underwater robot is ensured.

Description

technical field [0001] The invention belongs to the technical field of fault diagnosis of an underwater robot power system, and relates to an ESO (Extended State Observer, Extended State Observer)-based fault diagnosis method for an autonomous underwater robot actuator. Background technique [0002] The ocean area accounts for about 70% of the total area of ​​the earth. China not only has a huge land area, but also includes an ocean area that cannot be underestimated. In recent years, the discovery and exploration of marine resources have been continuously developed and gradually become mainstream. Autonomous underwater vehicles (AUVs), as a tool for human exploration and development of marine resources, play an important role in the marine field. Because AUV needs to work in the ocean for a long time, the conditions in the ocean are extremely harsh, and the surrounding environment is complex and changeable. Various failures may occur in the actuators in its motion control ...

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Problems solved by technology

[0004] The state estimation method in the prior art has the following defects: 1) The state estimation method needs to partially linearize the nonlinear model, but for an unstructured and uncertain actual system, decoupling cannot be achieved; 2) The state estimation method needs to be compared Accurate model, so the calculation amount is relatively large, and the stability is poor; 3) The parameter calculation of the state estimation method is more, and more parameters will affect the accuracy of fault diagnosis; 4) The fixed fault detection threshold will make the fault Diagnosis produces misdiagnosis and missed diagnosis

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