无人水下航行器推进器故障定位研究

Fault Location for Multiple Thrusters of Unmanned Underwater Vehicles

为保障无人水下航行器(UUV)在复杂海洋环境中航行的安全,降低因推进器故障而可能带来的风险,研究UUV配置多推进器执行使命时,推进器的故障定位问题,已为容错控制提供详细的故障信息,从而提高UUV在面临推进器故障时的容错能力;从UUV的非线性动力学模型出发,利用线性估计方法获得模型控制输入中的加性故障因子;采用基于几何相关性分析的方法,设计了UUV同一平面内多推进器的故障定位算法,并提出了故障定位约束条件;结合加性故障描述因子与故障定位约束条件,通过故障定位算法获得各推进器的故障情况;通过搭建Simulink仿真实验,对UUV同一平面内多推进器共同执行使命时的故障进行定位分析,准确定位了已发生故障的推进器,验证了所提算法的可行性与有效性。

To assure the sailing safety of the Unmanned Underwater Vehicle （UUV） while operating under the complex sea, and reduce the tasks that come from the actuator faults, this paper investigates the Fault Location （FL） problem of the multiple actuators for the fault -- tolerant control and thus improve the fault-- tolerant capability of the UUV. The additive fault factors are estimated by following the given linear estimation algorithm based on the UUV nonlinear dynamics model; the geometric--correlation--based method is adopted to analyze the fault location （FL） problem for the multiple thrusters, where an FL algorithm together with the constraint conditions for FL is designed for the thrusters in the same surface; by combining the estimated fault factors with the constraint conditions, the fault situation is obtained under the proposed algorithm. Simulation experiment was constructed and verified the effectiveness of the proposed algorithm since the faulty actua- tor had been accurately located based on the proposed algorithm.