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Unmanned ship fault estimation method based on iterative adaptive observer

An iterative self-adaptive, fault estimation technology, applied in instrumentation, electrical testing/monitoring, testing/monitoring control systems, etc., and can solve problems such as inability to provide

Pending Publication Date: 2020-04-10
HARBIN ENG UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to provide an unmanned ship fault estimation method based on an iterative adaptive observer in order to solve the problem that the existing unmanned ship fault diagnosis technology cannot provide quantitative information of the fault and requires multiple groups of modules to monitor the ship.

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  • Unmanned ship fault estimation method based on iterative adaptive observer
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  • Unmanned ship fault estimation method based on iterative adaptive observer

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[0077] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0078] The present invention provides a fault estimation method for unmanned surface craft based on iterative adaptive observer, such as figure 1 As shown, the specific implementation steps are as follows:

[0079] Step 1. Decompose the unmanned surface vehicle model containing both steering gear failure and sensor failure into two subsystems through coordinate transformation, wherein subsystem 1 only contains steering gear failure, and subsystem 2 only contains sensor failure. The first step includes :

[0080] Step A. According to the document "Integral-Based Event-Triggered Fault Detection FilterDesign for Unmanned Surface Vehicles", the mathematical model of the unmanned surface vehicle with steering gear failure and sensor failure is established as follows:

[0081]

[0082] the y o (t)=C o x o (t)+D os f s (t) (1)

[...

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Abstract

The invention, which belongs to the technical field of unmanned ship control, relates to an unmanned ship fault estimation method based on an iterative adaptive observer. The method comprises the steps: decomposing an unmanned surface vessel model containing steering engine failures and sensor failures into two subsystems simultaneously through coordinate transformation, enabling subsystem 1 to only contain steering engine failures and the subsystem 2 to only contain sensor failures; for the subsystem 1, designing an adaptive fault observer to estimate a steering engine efficiency factor; forthe subsystem 2, designing an iterative adaptive fault observer to estimate a sensor fault; and establishing an error equation of the subsystem 1 and the subsystem 2, and judging the stability of theerror system. According to the inbvention, accurate estimation of the fault condition of the unmanned ship system can be realized, and information such as the fault occurrence time, the development process and the severity degree of the fault is given, so that the safety of the unmanned ship can be conveniently monitored by an operation center; the steering engine failure condition and the sensorfailure condition of the unmanned ship can be estimated at the same time, so that the cost of fault-tolerant design is reduced.

Description

technical field [0001] The invention relates to an unmanned ship fault estimation method based on an iterative self-adaptive observer, and belongs to the technical field of unmanned ship control. Background technique [0002] As an autonomous movement platform working in a complex ocean environment, unmanned ships can perform tasks in high-risk sea areas for a long time because they have the characteristics of unmanned and intelligent operation and will not cause casualties. At the same time, the structure of unmanned ships is small, flexible, and highly concealed. By loading diversified equipment for different mission requirements, they can play an important role in territorial waters cruise, intelligence reconnaissance, marine resource exploration and other fields. [0003] On the other hand, due to the complex marine environment and harsh weather conditions, when unmanned surface ships perform scientific research and exploration tasks for a long time, various devices such...

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Application Information

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IPC IPC(8): G05B23/02
CPCG05B23/0243G05B2219/24065Y02T90/00
Inventor 陈力恒付沙沙陈杨李倩李丽雅赵玉新刘厂奔粤阳
Owner HARBIN ENG UNIV
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