AUV舵面故障的直接自修复控制

Direct Self-repairing Control of Rudder Fault for AUV

为了提高水下航行器(AUV)控制系统的可靠性,提出了基于模型跟随法的直接自修复控制方案,通过寻找故障发生后立即产生作用且与故障的具体信息无关的直接自修复控制规律,使故障AUV迅速恢复正常工作状态。该方案无需故障辨识就可以实现多个舵面故障的完全自修复,在AUV无故障时对其性能没有任何损失,并对扰动有良好的纠偏能力。上述特点和结论均得到了数学上的严格论证和仿真结果的有效支持。

To improve the reliability of autonomous underwater vehicle（AUV） control system,a direct self-repairing control scheme based on the model following method is proposed.The AUV can be made to regain its balance working state rapidly by finding a direct self-repairing control law,which will play its role just at the moment of fault and is independent on the certain information of fault.This scheme can achieve complete self-repairing multiple faults upon rudder without fault recognition,make no loss to the performance of AUV when it has no fault,and gain the good ability to avoid the deviation due to disturbance.All of these characteristics of the scheme and conclusions are strictly proved mathematically and supported by simulation results.