自主式水下机器人推进器故障诊断综述

Review of Fault Diagnosis for Autonomous Underwater Vehicle Thrusters

摘要:

自主式水下机器人（Autonomous Underwater Vehicle，AUV）无人无缆运行在复杂的海洋环境中。 AUV 装备朝着大型化、高速化、精密化、系统化和自动化的方向发展。AUV 的安全、平稳以及长时间运行是需要研究的重点问题，推进器作为 AUV 的核心部件和负载最重的部件，其故障诊断技术对于保障 AUV 安全运行起到极为重要的作用。推进器故障特征微弱且易受到海流等外部随机特征的干扰，随着设备检测传感器与采样频率的增加，有利于建立新理论和共同认可的推进器故障诊断办法。研究推进器的故障诊断理论和方法，特别是开展推进器相关的故障识别和容错控制，能够有效增强 AUV 的运行可靠性，促进 AUV 实用化进程，相关研究的理论价值和工程应用价值非常大。

Abstract:

The autonomous underwater vehicle operates in a complex marine environment without a cable. AUV equipment is developing towards large-scale，high-speed，precision，systematization and automation. The safety，stability and long-term operation of the AUV are the key issues that need to be studied. AUV thruster is the core and the heaviest component of the AUV. Fault diagnosis technology of the thruster plays an extremely important role in ensuring AUV safe operation. Fault features of the thruster are weak and vulnerable to the interference of external random features such as ocean currents. With the increase of equipment detection sensors and sampling frequency，it is conducive to the establishment of new theories and commonly recognized solutions for thruster fault diagnosis. Research on fault diagnosis theory and method of thrusters，especially on fault identification and fault tolerance control related to thrusters，can effectively enhance the reliability of AUV and promote the practical process of AUV. The theoretical value and engineering application value of relevant research are very great.