| 基于观测器的水下机器人鲁棒故障诊断 |
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| 引用本文： | 王建国,万磊,孙玉山,姜大鹏,常文田.基于观测器的水下机器人鲁棒故障诊断[J].大连海事大学学报(自然科学版),2009,35(4). |
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| 作者姓名： | 王建国 万磊 孙玉山 姜大鹏 常文田 |
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| 作者单位： | 哈尔滨工程大学,水下机器人技术国防科技重点实验室,哈尔滨,150001 |
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| 基金项目： | 863计划资助项目(2008AA092301); 国家自然科学基金资助项目(50579007); 哈尔滨工程大学基础研究基金资助项目(HEUFT08017;HEUFT08001) |
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| 摘 要： | 为提高水下机器人故障检测的正确率,降低故障诊断的误报率和漏报率,基于水下机器人的空间运动方程,完成了非线性滑模观测器的设计,并利用设计的观测器完成了水下机器人的系统辨识.将观测器应用于水下机器人的传感器仿真试验和推进器故障诊断的海上试验的结果验证了该方法的有效性和可行性.
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| 关 键 词： | 水下机器人 滑模观测器 传感器故障诊断 推力器故障诊断 |
Robust fault diagnosis of underwater robots based on observers |
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| WANG Jian-guo
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WAN Lei
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SUN Yu-shan
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JIANG Da-peng
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CHANG Wen-tian.Robust fault diagnosis of underwater robots based on observers[J].Journal of Dalian Maritime University,2009,35(4). |
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| Authors: | WANG Jian-guo WAN Lei SUN Yu-shan JIANG Da-peng CHANG Wen-tian |
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| Institution: | WANG Jian-guo,WAN Lei,SUN Yu-shan,JIANG Da-peng,CHANG Wen-tian(State Key Laboratory of Autonomous Underwater Vehicle,Harbin Engineering University,Harbin 150001,China) |
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| Abstract: | To improve the correct rate of fault detection for underwater robots while decreasing the false alarm rate and missing report rate,the nonlinear sliding-mode observer was designed based on the motion equations,and the underwater robots' system identification was undertaken based on the observer. The observer was applied both to sensor fault diagnosis simulation experiments and thruster sea trials for underwater robots,and the results verify the validity and feasibility of the proposed method. |
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| Keywords: | underwater robots sliding mode observers sensor fault diagnosis thruster fault diagnosis |
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