X-type rudder AUV fault detection method based on interval observer
A technology of fault detection and observer, applied in the direction of instruments, electrical test/monitoring, test/monitoring control systems, etc., can solve the problems of time-consuming and labor-consuming, difficult to obtain system analysis model, etc., achieve convenient design and overcome difficulties in threshold selection Effect
Pending Publication Date: 2022-03-22
HARBIN ENG UNIV
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But in fact, due to the influence of various external uncertain factors, it is difficult to obtain an accurate system analytical model, and the establishment method and practical application of an accurate analytical model for nonlinear systems still need to be further studied.
However, in actual engineering applications, it is often time-consuming and labor-intensive to detect and accurately estimate system faults. At this time, interval estimation of faults shows its application value
Moreover, considering that due to the influence of environmental factors and other factors, there is a large deviation between the parameters in the dynamic model obtained through model identification and the actual situation.
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[0077] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0078] figure 1 It is a flow chart of the fault detection process of the underwater robot interval observer patented by the present invention. combine figure 1 , a fault detection method for underwater robots based on neural network interval observers. The specific implementation steps are as follows:
[0079] Step (1): Combined with the dynamic model of the underwater robot, the state quantity is linearly transformed, and the uncertainty of the modeling error of the system model is introduced into the model;
[0080] The conventional underwater robot dynamics model can generally be described as the following form:
[0081]
[0082]
[0083] Among them, η is the attitude vector of the underwater robot in a fixed coordinate system, η∈R 6×1 ; v is the linear velocity and angular velocity vector of the underwater robot in the h...
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The invention provides an X-type rudder AUV (Autonomous Underwater Vehicle) fault detection method based on an interval observer, which is used for researching the problem that parameters in an underwater robot dynamic model have relatively large modeling errors, and carrying out online identification on system modeling errors by using an RBF (Radial Basis Function) neural network. According to the method, whether the system breaks down or not is judged directly through residual signals output by the interval observer and an actual system, the method is suitable for the field of underwater robot fault diagnosis, the problem that a fault threshold value of a traditional observer is difficult to select is solved, the sensitivity to faults is high, and therefore the method has wider research and application value.
Description
technical field [0001] The patent of the present invention relates to the technical field of fault diagnosis of underwater robots, in particular to a fault detection method for underwater robots in which each parameter in a dynamic model has a large modeling error due to the influence of factors such as the external environment. Background technique [0002] Underwater robots are widely used in complex ocean environments. In the overall structure of the X-rudder underwater robot, the X-rudder is the key actuator to realize the normal navigation of the X-rudder underwater robot, and its failure may be serious. Threats to the navigation safety of underwater robots. Therefore, in order to improve the reliability and safety of the X-rudder underwater robot, it is of great significance to study the fault detection method of the X-rudder underwater robot. [0003] At present, in the field of fault diagnosis of underwater robots, scholars at home and abroad mainly focus on the res...
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IPC IPC(8): G05B23/02
CPCG05B23/0243G05B2219/24065Y02T90/00
Inventor 王玉甲接宇欣钱宇姚峰刘星吕图李嘉文
Owner HARBIN ENG UNIV