基于故障描述因子与多观测器同步协作的AUV执行机构故障隔离与辨识

Fault factor and multiple observers based AUV actuator fault isolation and identification

执行机构的可靠性对系统的安全运行具有重要意义.针对自主式水下机器人(AUV),提出一种基于故障描述因子与多观测器同步协作的故障隔离与辨识方法.首先,通过执行机构故障描述因子概念的引入,将AUV运载器的故障隔离和辨识问题分为两个层级;其次,通过扩张状态观测器(ESO)和故障隔离逻辑规则的设计,实现包括舵面、螺旋桨与舵机在内的粗粒度级执行机构的故障隔离;然后,根据故障力与力矩的正负性关系,进一步分析舵面的具体形变故障类型,亦或基于螺旋桨与舵机的输出力与力矩关系,通过分析故障因子的内部信息,具体辨识可能的螺旋桨与舵机故障类型;最后,通过仿真结果表明所提出方法对AUV执行机构的故障具有较好的隔离与辨识精度.

The actuator reliability is of great significance to the system security.Therefore,a fault isolation and identification method is proposed for autonomous underwater vehicles(AUVs)based on fault factor and multiple observers scheme.Firstly,the fault isolation and identification of AUV actuators is divided into two levels based on the concept of fault factors.Then,the fault isolations focusing on rudders,propellers and actuators based on extended state observers(ESOs)and isolation logic rules are proposed.According to the relationship between the output force and torque,further identification can be realized via internal information analysis of fault factors.The simulation results show that the proposed scheme has an outstanding accuracy for AUV actuator fault isolation and identification.