外部干扰下自主式水下机器人推进器与导航传感器故障诊断方法研究

项目名称： 外部干扰下自主式水下机器人推进器与导航传感器故障诊断方法研究

项目编号： No.51279040

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 水利工程

项目作者： 张铭钧

作者单位： 哈尔滨工程大学

项目金额： 80万元

中文摘要： 自主式水下机器人（AUV）工作在复杂海洋环境，受海流等外部持续干扰及涡旋等外部随机干扰的影响会出现漂移、摇荡等动作，影响到传感器信号对系统真实状态的反映，进而影响到AUV故障诊断的方法和结果。现有的传感器信号特征提取方法可在一定程度上去除噪声，但对具有频域和幅值多变特性的海洋环境外部干扰的处理方法还不完善。 本项目主要研究AUV基于过程历史数据的信号特征提取方法，基于多源特征信号的故障映射方法，导航传感器故障检测与信号重构方法及基于模糊定性模型的推进器故障诊断方法。解决从特征信号中分离故障特征与外部随机干扰问题，推进器与导航传感器故障隔离问题，故障特征对故障描述的一致性问题以及模糊定性模型中模糊量空间自适应动态调整问题，对于解决海洋环境外部干扰下的AUV以及其它水下作业装备的故障诊断问题具有重要的科学意义及应用前景。

中文关键词： 自主式水下机器人；故障诊断；随机干扰；特征提取；

英文摘要： Autonomous underwater vehicle (AUV) works in the complex ocean environment and is disturbed by the current and other external continuous interference and vortex and other external random interference. These disturbances will make AUV drift and sway, and make the sensor signal does not reflect the true state of the system, and thereby affect the AUV fault diagnosis methods and results. The existing sensor signal feature extraction methods can remove noise to some extent, but are not perfect for external random interference with the changeable characteristics of the frequency domain and amplitude in ocean environment. The primary research of the project are AUV signal feature extraction method based on the process of historical data, and the fault mapping method based on multi-source characteristic signal, and the navigation sensor fault detection and signal reconstruction method ,and the thruster fault diagnosis method based on fuzzy qualitative model. The project will solve the isolation of fault feature and the external random disturbance from the characteristic signal, and the fault isolation problem between the thruster and the navigation sensor, and the consistency of fault description by the fault feature，and fuzzy quantity space adaptive dynamic adjustment in fuzzy qualitative model. It has important s

英文关键词： Autonomous underwater vehicle；Fault diagnosis；Random disturbance；Feature extraction；