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Input current fault detection method for autonomous underwater robot control system

An underwater robot and control system technology, applied in general control systems, control/regulation systems, adaptive control and other directions, can solve problems such as high requirements for fault signal selection, unsatisfactory effects, and slow analysis of high-frequency noise. , to achieve the effect of facilitating fault detection and identification

Pending Publication Date: 2022-03-01
JIANGSU UNIV OF SCI & TECH
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Problems solved by technology

The wavelet method is slow to analyze the high-frequency noise generated by the AUV system, the modified Bayesian method is not ideal for the fault classification of the control system, and the fractal dimension method has higher requirements for the selection of the time window of the fault signal

Method used

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  • Input current fault detection method for autonomous underwater robot control system
  • Input current fault detection method for autonomous underwater robot control system
  • Input current fault detection method for autonomous underwater robot control system

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Embodiment Construction

[0042] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0043] Such as figure 1 As shown, an autonomous underwater robot control system input current fault detection method includes the following steps:

[0044] (1) The quantum Bang-Bang technology is used to decouple the interference and fault decoupling of the collected signals of the AUV control system, so that the interference signal and the fault signal evolve independently.

[0045] (1.1) If figure 2 As shown, using quantum Bang-Bang technology to decouple the interference and fault characteristics of the collected AUV control system signals, establish multiple system models with faults and interference, and synthesize quantum state models. According to the probability of occurrence of faults and interference Construct quantum spin states.

[0046] (1.2) The key to quantum Bang-Bang control depends on the switch surface, and the positive ...

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Abstract

The invention discloses an autonomous underwater vehicle (AUV) control system input current fault detection method, which comprises the following steps of: performing interference and fault decoupling on a collected signal of an AUV control system by adopting a quantum Bang-Bang technology, so that an interference signal and a fault signal are independently evolved; performing modal decomposition on the acquired signal of the AUV control system, and decomposing original data into corresponding intrinsic modes; carrying out input current fault detection on the decomposed low-frequency mode by adopting an SHFC window positioning method; and AUV control system fault features are obtained. According to the method, the problem that faults and interference exist at the same time can be solved, the real fault features of the system can be effectively extracted, later fault detection and identification are facilitated, and it is ensured that the AUV can operate safely.

Description

technical field [0001] The invention relates to fault diagnosis of an underwater robot, in particular to an input current fault detection method of an autonomous underwater robot control system. Background technique [0002] Autonomous underwater vehicle (AUV: Autonomous Underwater Vehicle) is currently a hot spot in the development of marine engineering technology, and it is playing an increasingly extensive role in marine resource exploration, submarine engineering operations, scientific research and many other aspects. The biggest feature of AUV is its strong ability to operate in deep water, and it can work in a complex deep-sea environment without a cable. Then the safety of AUV is the first prerequisite for its completion of the task. Therefore, the fault diagnosis technology for AUV is to ensure its safety. One of the key technologies for stable operation. [0003] In the field of fault diagnosis, the extraction of fault features is also one of its important research...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 朱志宇朱德纹王伟然徐威
Owner JIANGSU UNIV OF SCI & TECH
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