Fault detecting device and method of cable-free bathyscaph track control system

A track tracking and fault detection technology, applied in electrical testing/monitoring, etc., can solve problems such as inability to realize precise control of cable-free deep submersibles, affecting track tracking control effect, and steering gear jamming

Inactive Publication Date: 2012-11-14
JIANGSU UNIV OF SCI & TECH
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Problems solved by technology

During the track tracking control process, if the track controller, rudder angle controller, and control signal receiving device have step-type or slope-type faults, or the steering gear has a stuck-type fault, the course of the untethered deep submersible cannot be achieved. Accurate control, thus affecting the effect of track tracking control

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  • Fault detecting device and method of cable-free bathyscaph track control system
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  • Fault detecting device and method of cable-free bathyscaph track control system

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Embodiment Construction

[0031] A cableless deep submersible track tracking control system fault detection device according to the present invention is composed of a track tracking control module and a fault detection module, and the track tracking control module includes a GPS receiving antenna, a GPS receiving device, a gyro compass, and a rudder Angle feedback device, track controller, rudder angle controller, track tracking reference model, control signal receiving device, steering instrument, steering gear, rudder and other devices, the fault detection module includes fault detection filter, reference residual model, residual Differential signal analysis device, fault alarm device, etc. The track controller and the rudder angle controller generate control input so that the actual track of the untethered deep submersible tracks the set track; the residual signal analysis device calculates and compares the value of the residual evaluation function with a given threshold, and when the residual When ...

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Abstract

The invention relates to a fault detecting device of a cable-free bathyscaph track control system. The system comprises a GPS (Global Position System) receiving antenna, a GPS receiving device, a gyrocompass, a helm angle feedback device, a track controller, a helm angle controller, a track tracking reference model, a control signal receiving device, a steeling instrument, a steering engine, a helm, a fault detection filter, a reference residual error model, a residual error signal analyzing device and a fault alarming device. The invention also provides a fault detecting method of the fault detecting device. By utilizing the device, the fault detection of the cable-free bathyscaph track control system is realized conveniently and rapidly; the maneuverability and the security in cable-free bathyscaph tracking are ensured; and the device has practical application and popularization value.

Description

technical field [0001] The invention relates to a cableless deep submersible track tracking control system, which belongs to the technical field of cableless deep submersible track tracking control and fault detection. At the same time, the invention discloses its fault detection method. Background technique [0002] The deep submersible is an active deep diving device with underwater observation and operation capabilities, and is mainly used to perform tasks such as underwater investigation, seabed exploration, seabed development and salvage, and lifesaving. Compared with cabled deep submersibles, untethered deep submersibles have stronger maneuverability and are more convenient to perform mine countermeasures, submarine tracking in coastal areas, and intelligence, surveillance and reconnaissance tasks. The track tracking control of the cable-free deep submersible refers to making the track of the cable-free deep submersible follow the set trajectory through the steering i...

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Application Information

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IPC IPC(8): G05B23/02
Inventor 王玉龙刘维亭杨奕飞李春华尚婕王天宝张大伟杜昭平
Owner JIANGSU UNIV OF SCI & TECH
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