基于多AUV系统的单AUV推进器故障检测

Thruster Fault Diagnosis of An AUV Based on Multi-AUV System

  • 摘要: 基于多水下机器人系统(MAUVS)进行单水下机器人(AUV)推进器故障检测,提出AUV声纳模拟方法,分析了故障前后各传感器的信号特征,提出在时间序列和空间序列上进行故障概率融合的方法.提出了基于速度和角度残差的故障基本概率分配函数.鉴于AUV概率检测的不确定性影响,改进了时间和证据融合节拍的方法.水下机器人水池实验结果验证了所提出的信息融合故障检测方法在增强故障证据的可信度及检测实时性、提高检测效率方面的有效性,为多水下机器人系统推进器的故障检测提供了一种可选方案.

     

    Abstract: For thruster fault diagnosis of an AUV(autonomous underwater vehicle) based on multi-AUV system(MAUVS),a method to simulate sonar sensors is proposed.The output characteristics of AUV’s sensors before and after fault are analyzed,and a temporal or spatial fault probability fusion method is proposed.A basic probability assignment(BPA) function is proposed based on speed residual value and angle residual value.The method of fusion rhythm of time and evidence is improved in consideration of the uncertainty of detection method based on probability.The AUV pool experiment results prove the validity of the proposed information fusion fault diagnosis method in improving reliability of fault evidence,real time performance of fault detection and diagnosis efficiency.The presented method provides an optional scheme for the thruster fault diagnosis of MAUVS.

     

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