一种水下机器人传感器故障诊断与容错控制方法  

Sensor fault diagnosis and fault-tolerant control method of underwater vehicles

作　　者：朱大奇[1] 陈亮[1] 刘乾[1] 

机构地区：[1]上海海事大学水下机器人与智能系统实验室,上海200135

出　　处：《控制与决策》2009年第9期1335-1339,共5页Control and Decision

基　　金：国家863计划项目(2006AA09Z210);国家自然科学基金项目(50775136);上海市教委项目(2008099)

摘　　要：采用自适应滤波器FIR对水下机器人进行在线自适应建模,并利用LMS算法来调节滤波器的权系数.通过对滤波器权系数和误差信号平方的分析,实时检测出传感器的故障,并应用FIR滤波器输出替代故障传感器信号,实现传感器故障情形下水下机器人容错控制.应用该方法对Outland 1000水下机器人传感器的故障进行检测和容错,实验结果表明所提故障检测方法准确可靠,具有较好的容错效果.An adaptive model of underwater vehicles is constructed by using adaptive filter FIR, and LMS algorithm is used to minimize the output error between the monitored system and the FIR filter in the process. By analyzing the resulting adaptive FIR filter coefficients and error signal, the sensor fault is detected and fault-tolerant control is realized. This method is applied to the sensor subsystem of Outland 1000. Experimentation results show that the method is simple to implement and effective in fault detection and fault-tolerant control.

关 键 词：水下机器人 故障检测 自适应滤波器 容错控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]