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

摘要:

无人水下航行器(UUV)在复杂多变的海洋环境中作业时,推进器的故障可阻挠使命的执行,严重时还可能造成UUV的丢失与损毁。为增强UUV的安全保障能力,针对UUV多台推进器的故障定位问题,采用基于几何相关性分析的方法,设计了UUV同一平面多推进器的故障定位算法,并提出了故障定位约束条件,通过仿真实验验证了所提算法的有效性。

关键词:无人水下航行器;推进器;故障定位;冗余

Abstract:

Unmanned underwater vehicle (UUV) might not execute the missions or get lost or even be destroyed due to the thruster faults, while operating in the complex and changeful sea environments. To enhance the safety assurance ability of UUVs, the geometric-correlation-based method is adopted to analyze the fault location (FL) problem for multiple thrusters. FL algorithm together with the constraint conditions for FL is designed for the thrusters in the same surface. Simulation experiment is utilized to verify the effectiveness of the proposed algorithm.

Key words:Unmanned underwater vehicle (UUV); Thruster; Fault location (FL); Redundancy