水下机器人可重构控制系统可靠性分析研究

项目名称： 水下机器人可重构控制系统可靠性分析研究

项目编号： No.51509054

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 其他

项目作者： 张磊

作者单位： 哈尔滨工程大学

项目金额： 22万元

中文摘要： 自主式水下机器人往往运行于复杂的海洋环境，未知多变的外界因素要求机器人自身具有高度的可靠性。作为核心单元的控制系统，其可靠性已成为衡量水下机器人技术的重要指标之一，将直接关系到水下机器人任务完成的质量，甚至会影响到水下机器人的生存能力。因此，进行水下机器人控制系统的可靠性分析，以便发现可靠性薄弱环节，进而采取相应补救措施来提高系统可靠性，对水下机器人的工程化应用具有极其重要的意义。本项目针对具有柔性可重构功能的自主式水下机器人控制系统，研究其硬件系统及软件系统的可靠性预测评估方法。基于广义随机Petri网建立分布式可重构软件系统可靠性模型，采用灰色系统理论进行贫信息条件下硬件可靠性预测，在此基础上同时考虑软硬件两方面因素建立控制系统可靠性一体化模型，解决任务差异和系统重构造成的控制系统可靠性评估难题，综合地评价其执行设定功能或完成任务的可靠程度，为设计高可靠性的控制系统提供必要的支持。

中文关键词： 水下机器人；控制系统；可靠性；软件系统；硬件系统

英文摘要： Autonomous underwater vehicles often work in complex ocean environment, the unknown and variable external factors demand for high reliability of vehicles. And the reliability of the control system which is the core unit has become one of the most important indexes of underwater vehicles, which would affect the quality of work and even affect the survivability of underwater vehicles directly. Thus the reliability of underwater vehicles’ control system needs to be evaluated and predicted to find the weakness in reliability and then improve it, which means a lot in engineering application of underwater vehicles. In this project, aiming at the flexible and reorganizable control system, methods of predicting and evaluating the reliability of hardware and software system are discussed. The reliability model of distributed and reorganizable software system based on generalized random Petri network is built, and grey system theory is used to predict the reliability of hardware with poor-information. Then the integral reliability model of control system is established by considering both hardware and software factors, to evaluate the reliability of executing set function and completing task, which provides necessary support for designing high reliable control system.

英文关键词： autonomous underwater vehicle;control system;reliability;software system;hardware system