| 水下机器人传感器故障诊断 |
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| 引用本文： | 王建国,万磊,徐玉如. 水下机器人传感器故障诊断[J]. 大连海事大学学报(自然科学版), 2007, 33(4): 47-50,55 |
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| 作者姓名： | 王建国 万磊 徐玉如 |
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| 作者单位： | 哈尔滨工程大学,船舶工程学院,哈尔滨,150001;哈尔滨工程大学,船舶工程学院,哈尔滨,150001;哈尔滨工程大学,船舶工程学院,哈尔滨,150001 |
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| 基金项目： | 国防科工委基础研究项目 |
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| 摘 要： | 为了提高水下机器人系统的总体可靠性,开展了水下机器人传感器故障诊断研究.在分析水下机器人传感器三种故障形式的基础上,提出了相应的故障诊断方法.阐明了线性平滑原理和小波变换的基本理论,进行了信号奇异性分析,探讨了小波基选择的一般标准.将提出的几种故障诊断方法应用到实际的水下机器人海上试验中,结果验证了所提方法的有效性与可行性.
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| 关 键 词： | 水下机器人 传感器 故障诊断 线性平滑滤波 小波分析 |
| 文章编号： | 1006-7736（2007）04-0047-04 |
| 收稿时间： | 2007-07-20 |
| 修稿时间： | 2007-07-20 |
Sensor fault diagnosis of underwater vehicles |
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| WANG Jian-guo,WAN Lei,XU Yu-ru. Sensor fault diagnosis of underwater vehicles[J]. Journal of Dalian Maritime University, 2007, 33(4): 47-50,55 |
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| Authors: | WANG Jian-guo WAN Lei XU Yu-ru |
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| Abstract: | Study on sensor fault diagnosis of underwater vehicles(UVs) was done to improve its whole system reliability,and fault diagnosis methods corresponding to UVs' three kinds of sensor failures were developed.The basic principles of linear smoothing and wavelet transform were expounded,signal singularity analysis was carried out and the general standard of wavelet function selection was discussed.The fault diagnosis methods were applied to UVs with the practical sea experiment,and results verify its validity and feasibility. |
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| Keywords: | underwater vehicles sensor fault diagnosis linear smoothing filtering wavelet analysis |
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