基于终端滑模观测器的水下机器人推进器故障重构  

Terminal Sliding Mode Observer Based Fault Reconstruction for Underwater Vehicle Thruster

作　　者：褚振忠[1] 朱大奇[1] 张铭钧[2] 

机构地区：[1]上海海事大学信息工程学院,上海201306 [2]哈尔滨工程大学机电工程学院,哈尔滨150001

出　　处：《上海交通大学学报》2015年第6期837-841,共5页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(51279098);上海市自然科学基金资助项目(15ZR1419700;14JC1402800)

摘　　要：研究了基于终端滑模观测器的水下机器人推进器故障重构方法.针对传统滑模观测器中状态估计误差渐进收敛而影响推进器故障重构时效性的问题,利用终端滑模所具有的有限时间收敛特性,构建终端滑模观测器以保证所有的状态估计误差在有限时间内收敛,并利用等效输出误差注入方法重构推进器故障值.通过仿真对所提方法进行有效性验证.A fault reconstruction method based on terminal sliding mode observer was proposed in this pa- per. In the traditional sliding mode observer, the estimated error of unmeasured state is asymptotic conver- gence, which affects the timeliness of thruster fault reconstruction. In response to the above problem, the property of finite time convergence of terminal sliding mode was used to build a terminal sliding mode ob- server to ensure that all of the state estimation errors converge in a finite time. Then the thruster fault was reconstructed by using the equivalent output error infection method. Finally, the proposed method was validated by simulation.

关 键 词：水下机器人 终端滑模观测器 推进器 故障重构 

分 类 号：TP277[自动化与计算机技术—检测技术与自动化装置]