水下航行器执行机构故障诊断方法研究

Research on Actuator Fault Diagnosis Method for Underwater Vehicle

针对水下航行器执行机构故障论断问题,建立了航行器推进器及舵等执行机构的偏差型故障模型和航行器水平面运动模型;设计了一种采用时变渐消因子实现的强跟踪滤波器算法,在线估计航行器状态及执行机构故障偏差,通过对残差进行分析,实现了对水下航行器执行机构的故障诊断。仿真试验验证了强跟踪滤波器在航行器执行机构故障诊断中的有效性。

Aiming to solve the actuators fault diagnosis problem for underwater vehicle（in short,UV）,a parameter bias actuator fault model and UV’s horizontal plane motion model are set up.A strong tracking filter by introducing a time-varied eliminated factor is designed,which is suitable for a general class nonlinear time-varying systems and can be successfully used to real-time state estimation and parameter identification.Finally,the effectiveness of the proposed method is demonstrated by the computer simulation.