基于模型融合的自主潜器推进系统故障诊断  

Propulsive System Failure Detection of Autonomous Underwater Vehicle Based On Model Fusion

作　　者：陈涛[1] 张冬[2] 严浙平[1] 边信黔[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]中国人民解放军91982部队,海南三亚572021

出　　处：《中国造船》2009年第2期145-151,共7页Shipbuilding of China

摘　　要：采用对自主潜器(AUV)的全局状态模型与推进器局部模型融合的方法,实现对水下机器人推进系统的实时故障诊断。在诊断过程中,对AUV的特征状态参数进行残差信息融合,提出了故障诊断准则,保证了故障诊断的可靠性;并以仿真试验验证了该方法的有效性。A model fusion method for propulsive system failure detection of Autonomous Underwater Vehicle （AUV） is proposed. Global model and local thruster model are used to realize on-line failure detection of propulsive system. Meanwhile, residuals information fusion of diagnostic state parameter of AUV is applied to distill the failure detection rules, which ensures the reliability of failure detection. Numerical simulation experiment shows the validity of the method presented in this paper.

关 键 词：船舶 舰船工程 自主水下机器人 推进系统 故障诊断 模型融合 残差信息融合 

分 类 号：U661.313[交通运输工程—船舶及航道工程]