CN101344460A - Underwater robot sensor fault diagnosis method and system - Google Patents
Underwater robot sensor fault diagnosis method and system Download PDFInfo
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- CN101344460A CN101344460A CNA2007100447848A CN200710044784A CN101344460A CN 101344460 A CN101344460 A CN 101344460A CN A2007100447848 A CNA2007100447848 A CN A2007100447848A CN 200710044784 A CN200710044784 A CN 200710044784A CN 101344460 A CN101344460 A CN 101344460A
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Abstract
The invention discloses a failure diagnosis method and a failure diagnosis device of an underwater robot sensor. An underwater robot sensor system outputs a depth voltage signal, a speed voltage signal and a direction voltage signal that correspond to depth, speed and direction signals of an underwater robot; an underwater robot signal preprocessor implements the amplification, preprocessing of wave filtering and A/D transformation of the voltage signals, and realizes serial data communication with the failure diagnosis device of the underwater robot sensor through a 485 serial interface; the failure diagnosis device of the underwater robot sensor implements data analysis and failure diagnosis of the sensor system. The failure diagnosis method and the failure diagnosis device can not only diagnose the failure condition of the underwater robot, but also can reconstruct numerical values of the sensor in the normal working condition.
Description
Technical field
The present invention relates to underwater robot fault diagnosis technology field, relate in particular to underwater robot sensor fault diagnosis method.The invention still further relates to the underwater robot sensor fault diagnosis system.
Background technology
The ocean is relaying land, four major strategies space (land, sea, air, sky) the 2nd large space afterwards of human development, it is the strategic exploitation base of living resources, the energy, water resource and metals resources, be the space that development potentiality is arranged most, China's economy and society development is being produced direct, huge supporting role.As the assistant that the mankind explored and developed the ocean, the particularly unmanned underwater robot UUV of underwater robot (UnmannedUnderwater Vehicle) will play a significant role in this field.
Publication number is the patent of CN1709766, has introduced a kind of buoyancy and propellor dual-driving-mode long-distance autonomous underwater robot, is used for field of engineering technology under the ocean water.This invention comprises: the robot body, a pair of main wing, a pair of thruster and vertical tail, robot body's outside is the permeable shell that rectification is used, main wing and vertical tail have low fluid resistance aerofoil profile, and main wing is arranged at permeable shell rear portion, are symmetrically distributed in the permeable shell left and right sides, vertical tail is arranged at permeable shell afterbody, in the vertical symmetry plane of permeable shell.Thruster is arranged on the outside of main wing.This invention has impeller driven and two kinds of type of drive of buoyancy-driven, under the buoyancy-driven pattern, rely on the adjusting of buoyancy and center of gravity to produce thrust and controlled motion direction, has high flying power, under the impeller driven pattern, rely on thruster to produce thrust, rely on angle of rake thrust difference in the left and right sides and center of gravity to regulate the controlled motion direction, have high maneuverability.
U.S. Patent number be US5995992 patent disclosure a kind of Marine Sciences that are used for measure with search 6 feet long, diameter is 13 inches a autonomous underwater robot.Introduced its computer system, the I/O mouth, buoyancy reclaims framework, battery power, high speed serial ports, the design of real-time data acquisition and control system thereof under water.
Above patent of invention all is relevant unmanned underwater robot Design of device, but since the complicacy of benthos working environment, unpredictability, in a single day underwater robot breaks down, not only robot can't finish the underwater operation task, and robot itself also is difficult to reclaim, and loses huge.Therefore its reliability engineering research is very crucial with design.And the research of directly serving the fault diagnosis technology of underwater robot reliability almost still is blank, and particularly any patent disclosure is not seen in the research of the fault detect of underwater robot sensor system and isolation technology.
Summary of the invention
At the technological gap that exists in the above-mentioned background technology, technical matters first aspect to be solved by this invention is to provide a kind of underwater robot sensor fault diagnosis method;
In addition, also to be to provide a kind of be the underwater robot sensor fault diagnosis system of core with the dsp system to technical matters second aspect to be solved by this invention.
As a kind of underwater robot sensor fault diagnosis method of first aspect present invention, it may further comprise the steps:
A, utilize underwater robot depth transducer, speed pickup, direction sensor to detect underwater robot be in water headway data in depth data, the water, directional data, and become its corresponding voltage signal to deliver in the signal preprocessor of underwater robot these data-switching;
The signal preprocessor of b, described underwater robot is delivered to underwater robot sensor diagnostic device on the surface mother ship with the voltage signal of headway data, directional data in the depth data that obtains, the water by serial communication;
C, the underwater robot sensor fault diagnosis device is to the depth data from the different time series of underwater robot signal preprocessor, headway data in the water, the voltage signal of directional data carries out nonlinear principal component and analyzes the NPCA processing, obtain the underwater robot depth transducer, speed pickup, square error expected SPE of direction sensor, again to difference moment depth transducer, speed pickup, direction sensor is done similar processing, obtain at each underwater robot depth transducer constantly, speed pickup, square error expected SPE size distribution of direction sensor, utilize square error expected SPE saltus step numerical value, judge the underwater robot depth transducer, speed pickup, whether direction sensor breaks down, and realizes the underwater robot depth transducer, speed pickup, the detection of direction sensor.
In said method, the method that obtains square error expected SPE of underwater robot depth transducer, speed pickup, direction sensor among the described step c is by reconstruct depth transducer, speed pickup, next signal magnitude constantly of direction sensor, subtract each other with this moment depth transducer, speed pickup, direction sensor measured signal and to utilize squared difference summation again, obtain square error expected SPE of underwater robot depth transducer, speed pickup, direction sensor.
In said method, the isolation step that also comprises a fault sensor, described isolation step is the measured signal that replaces next this sensor of the moment respectively with the reconstruction value of certain sensor i, other two sensors is still used measured signal, next measured signal and reconstruct prediction signal constantly of each sensor is subtracted each other, and the squared difference summation obtains square error expected SPE of underwater robot to this sensor i
i, work as SPE
iWhen having saltus step, then sensor i is normal, works as SPE
iWhen not having saltus step, sensor i fault then, thus isolate concrete fault sensor.
In said method, adopt 485 serial line interfaces to carry out data transfer between the signal preprocessor of described underwater robot and the underwater robot sensor diagnostic system on the surface mother ship.
In the method for the present invention, underwater robot sensor fault diagnosis device among the step c is finished sensor fault diagnosis by built-in controlling and driving program, this control program comprises 485 signal procedures, nonlinear principal component is analyzed the NPCA program, the simulated failure program, square error expected SPE calculation procedure of depth transducer, speed pickup, direction sensor and square error expected SPE of sensor i
iCalculation procedure five parts; Described 485 signal procedures drive the underwater robot signal preprocessor and finish the sensor signal transformation task; It is that sensor fault detects isolating tool that nonlinear principal component is analyzed the NPCA program, utilizes the sensor historical data to train; The fault setting program that described simulated failure program is a system; Square error expected SPE calculation procedure of described depth transducer, speed pickup, direction sensor is realized sensing system fault detect, square error expected SPE of sensor i
iCalculation procedure is finished the underwater robot sensor fault isolation.
A kind of underwater robot sensor fault diagnosis system as second aspect present invention comprises:
Be arranged at the depth transducer on the underwater robot, described depth transducer is in order to the degree of depth in the water of measuring underwater robot, and changes the depth data that records into degree of depth voltage signal;
Be arranged at the speed pickup on the underwater robot, described speed pickup is in order to measuring the headway of underwater robot, and is the velocity voltage signal with the headway transformation of data that records;
Be arranged at the direction sensor on the underwater robot, described direction sensor is in order to measuring the navigation direction of underwater robot, and changes the directional data that records into the direction voltage signal;
Be arranged on the underwater robot signal preprocessor on the underwater robot, the signal input part of described underwater robot signal preprocessor is connected with described depth transducer, speed pickup, direction sensor signal, to receive degree of depth voltage signal, velocity voltage signal, the direction voltage signal that described depth transducer, speed pickup, direction sensor send over;
Be arranged on the underwater robot sensor fault diagnosis device on the surface mother ship, be connected to receive the degree of depth voltage signal that the underwater robot signal preprocessor sends over by the serial communication data line between the signal output part of this underwater robot sensor fault diagnosis device and described underwater robot signal preprocessor, the velocity voltage signal, direction voltage signal and degree of depth voltage signal to receiving, the velocity voltage signal, the direction voltage signal carries out nonlinear principal component and analyzes the NPCA processing, obtain the underwater robot depth transducer, speed pickup, square error expected SPE of direction sensor, again to difference moment depth transducer, speed pickup, direction sensor is done similar processing, obtain at each underwater robot depth transducer constantly, speed pickup, square error expected SPE size distribution of direction sensor, utilize square error expected SPE saltus step numerical value, judge the underwater robot depth transducer, speed pickup, whether direction sensor breaks down, and realizes the underwater robot depth transducer, speed pickup, the detection of direction sensor.
In above-mentioned diagnostic system, described underwater robot signal preprocessor includes signal amplification filtering module, the A/D converter that is connected with signal amplification filtering modular circuit, the multi-way switch module, 485 serial communication ports and microprocessor, described multi-way switch module input and each depth transducer, speed pickup, direction sensor connects, described multi-way switch module output terminal is connected with signal amplification filtering modular circuit input end, the A/D converter signal input part is connected with the output terminal of signal amplification filtering modular circuit, described microprocessor is connected with the A/D converter signal output part, and is connected with 485 serial communication ports.
Described underwater robot sensor fault diagnosis device, comprise fault data display module, DSP hardware circuit interface module, 485 serial communication ports, power supply, gauge tap, power supply is given whole device power supply, the input end of DSP hardware circuit interface module is connected with the underwater robot signal preprocessor by 485 serial communication ports, output termination fault data display module.
Described DSP hardware circuit interface module comprises dsp system power circuit, clock and reset circuit, LCD interface circuit; The chip of described DSP hardware circuit interface module is a digital signal processor.
Described fault data display module comprises a LCD, and described LCD has the display of drawing and text screen mixed display function for can show letter, numeric character, Chinese font and figure.
In above-mentioned diagnostic system, the isolation module that also comprises a fault sensor, described isolation module is connected with the output terminal of DSP hardware circuit interface module, this isolation module replaces next measured signal of this sensor constantly with the reconstruction value of certain sensor i respectively, other two sensors is still used measured signal, next measured signal and reconstruct prediction signal constantly of each sensor is subtracted each other, and the squared difference summation obtains square error expected SPE of underwater robot to this sensor i
i, work as SPE
iWhen having saltus step, then sensor i is normal, works as SPE
iWhen not having saltus step, sensor i fault then, thus isolate concrete fault sensor.
The present invention has remedied the blank of relevant underwater robot fault detect, and a kind of method and apparatus of energy efficient diagnosis is provided.The present invention has the following advantages:
1 usefulness nonlinear principal component is analyzed NPCA the underwater robot sensor signal is handled, and utilizes the historical data of sensor that NPCA is trained, and utilizes the NPCA model after training to carry out sensor signal reconstruct prediction constantly in future; There are mapping relations in square error expected SPE of calculating sensor system between square error expected SPE distribution of searching sensing system and its malfunction;
2. the measured signal that replaces next this sensor of the moment respectively with the reconstruction value of certain sensor i, other two sensors is still used measured signal, next measured signal and reconstruct prediction signal constantly of each sensor is subtracted each other, the squared difference summation obtains square error expected SPEi of underwater robot to this sensor i, realize the fault isolation of underwater robot sensor system, and a kind of underwater robot sensor diagnosis method for system fault and device of practicality are provided;
3. the present invention not only can diagnose the underwater robot sensor fault state, and can predict the sensor values of normal operative condition.
Description of drawings
Describe the present invention in detail below in conjunction with the drawings and specific embodiments,
Fig. 1 is the structural representation of underwater robot sensor fault diagnosis of the present invention system.
Fig. 2 is the fault diagnosis and isolation process flow diagram of underwater robot sensor fault diagnosis method of the present invention.
Fig. 3 is the schematic diagram of the dsp system power circuit in the underwater robot sensor fault diagnosis of the present invention system.
Fig. 4 a is the clock circuit schematic diagram in the underwater robot sensor fault diagnosis of the present invention system.
Fig. 4 b is the reset circuit schematic diagram in the underwater robot sensor fault diagnosis of the present invention system.
Fig. 5 is the LCD interface circuit diagram in the underwater robot sensor fault diagnosis of the present invention system.
Fig. 6 is square error expected SPE signal distribution plots of the sensing system in the underwater robot sensor fault diagnosis method of the present invention;
Fig. 7 is square error expected SPE of the sensor i of underwater robot sensor fault diagnosis method of the present invention
iSignal distribution plots.
Fig. 8 is sensor normal signal (faultfree measurements), actual measurement fault-signal (faulty measurements) and reconstruction signal (reconstructed measurements) three-dimensional plot of underwater robot sensor fault diagnosis method of the present invention.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
Referring to Fig. 1, Fig. 2, a kind of underwater robot sensor fault diagnosis system is formed by connecting by underwater robot sensor system 1, underwater robot signal preprocessor 2, underwater robot sensor fault diagnosis device 3.Underwater robot sensor system 1 includes depth transducer 11, speed pickup 12 and direction sensor 13 and signal transmssion line; Depth transducer 11, speed pickup 12 and the signal input part of direction sensor 13 with underwater robot signal preprocessor 2 are connected by signal transmssion line.The signal output part of underwater robot signal preprocessor 2 is connected with the signal input part of underwater robot sensor fault diagnosis device 3 by the serial communication line.
Underwater robot signal preprocessor 2 is sealed among the underwater robot carrier model 1000, include signal amplification filtering module, with signal amplification filtering modular circuit, A/D converter, the multi-way switch module, 485 serial communication ports and microprocessor, the multi-way switch module input is connected with each signal transducer, described multi-way switch module output terminal is connected with signal amplification filtering modular circuit input end, the A/D converter signal input part is connected with the output terminal of signal amplification filtering modular circuit, described microprocessor is connected with the A/D converter signal output part, and is connected with 485 serial communication ports.
Underwater robot sensor fault diagnosis device 3, comprise fault data display module, DSP hardware circuit interface module, 485 serial communication ports, power supply, gauge tap, power supply is given whole device power supply, the input end of DSP hardware circuit interface module is connected with the underwater robot signal preprocessor by 485 serial communication ports, output termination fault data display module.
DSP hardware circuit interface module comprises dsp system power circuit, clock and reset circuit, LCD interface circuit; Dsp chip adopts the C54X series TMS320VC5402 digital signal processor of TI company; Vibration displacement numerical value display module adopts the dot matrix lcd module OCM4 * 8C of ST7920 controller drives, and this module can show letter, numeric character, Chinese font and figure, has to draw and text screen mixed display function.The dsp system power circuit as shown in Figure 3, shown in Fig. 4 a and Fig. 4 b, the LCD interface circuit is as shown in Figure 5 respectively for clock and reset circuit.Foregoing circuit is known to those skilled in the art, does not do detailed description at this.
Principle of work of the present invention: the depth transducer 11 of underwater robot sensor system 1, speed pickup 12 and direction sensor 13 outputs degree of depth voltage signal, velocity voltage signal, the direction voltage signal corresponding with the degree of depth, speed and the direction signal of underwater robot; 2 pairs of voltage signals of underwater robot signal preprocessor amplify, filter preprocessing and A/D conversion, and carry out serial data communication by 485 serial line interfaces and underwater robot sensor fault diagnosis device 3; Underwater robot sensor fault diagnosis device 3 is analyzed the data and the diagnostic sensor system failure.It is finished by built-in controlling and driving program, and this control program comprises 485 signal procedures, nonlinear principal component analysis NPCA program, simulated failure program, square error expected SPE calculation procedure of sensing system and square error expected SPE of sensor i
iCalculation procedure five parts, 485 signal procedures drive the underwater robot signal preprocessor and finish the sensor signal transformation task; It is that sensor fault detects isolating tool that nonlinear principal component is analyzed the NPCA program, utilizes the sensor historical data to train; The simulated failure program is the fault setting program of system; Square error expected SPE calculation procedure of sensing system is realized sensing system fault detect, square error expected SPE of sensor i
iCalculation procedure is finished the underwater robot sensor fault isolation.
The course of work of the present invention: one does not have the Model1000 of robot under water of going into, and is the experiment carrier of the embodiment of the invention, and three kinds of sensors (degree of depth, speed and direction) are installed on the carrier, and it can establish the various fault modes of sensing system by software; Connect each equipment according to Fig. 1 structure, carry out sensor fault diagnosis by the failure prediction flow process of Fig. 2 again and handle.Press " signal sampling " button of underwater robot sensor fault diagnosis device 3 film face-plates, then underwater robot sensor fault diagnosis device 3 starts signal procedure driving underwater robot signal preprocessor 2, by serial line interface the voltage signal of the sensor degree of depth, speed and direction is just often sent into underwater robot sensor fault diagnosis device 3 and preservation; Press " NPCA training " button of underwater robot sensor fault diagnosis device 3 film face-plates, then underwater robot sensor fault diagnosis device 3 starts NPCA training managing program, carry out the NPCA training managing with the degree of depth, speed and the direction historical signal of gathering, obtain having preserved underwater robot sensor information because the NPCA model; Press " fault setting " button of underwater robot sensor fault diagnosis device 3 film face-plates, then underwater robot sensor fault diagnosis device 3 start sensor fault simulators are obtained the sensor measured data under the simulated failure situation; Press underwater robot sensor fault diagnosis device 3 film face-plates " fault detect " button, then underwater robot sensor fault diagnosis device 3 starts fault detection program, the distribution of square error expected SPE of calculating underwater robot sensor system and the duty of determine sensor system, show the distribution situation of square error expected SPE by the liquid crystal circuit of Fig. 5, and the determine sensor system there is non-fault to take place; Press underwater robot sensor fault diagnosis device 3 film face-plates " fault isolation " button, then underwater robot sensor fault diagnosis device 3 starts fault isolation routine, reconstruction value with certain sensor i replaces next measured signal of this sensor constantly respectively, other two sensors is still used measured signal, calculates square error expected SPE of underwater robot to this sensor i
i, show square error expected SPE by the liquid crystal circuit of Fig. 5
iDistribution situation, and judge concrete fault sensor.
When depth transducer had 15% additional fault, the distribution of square error expected SPE of underwater robot sensor system was referring to Fig. 6, and square error expected SPE1 when replacing its measured value with the depth transducer reconstruction value separately is referring to Fig. 7.
Fig. 8 is sensor normal signal, actual measurement fault-signal and reconstruction signal three-dimensional plot, as can be seen from the figure, sensor signal when utilizing the underwater robot sensor signal of NPCA reconstruct and non-fault is basic identical, two curves almost coincide together, illustrate the NPCA model can accurately predict can correct response the sensor values of underwater robot state; Actual sensor output signal is not before adding fault, also identical with them, in case after adding 15% additional fault, actual sensor output numerical value just has significantly with them and departs from, that is to say the state that sensor actual output this moment can not the accurate response underwater robot, needs are realized the fault-tolerant control of underwater robot with the output of the signal numerical value replacement fault sensor of the reconstruct of NPCA model.
Although invention has been described for the foregoing description, for the technician of the industry, still can do multiple variation to present embodiment, therefore, every employing similar variation of the present invention all should be listed protection scope of the present invention in.
More than show and described ultimate principle of the present invention and principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; that describes in the foregoing description and the instructions just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (11)
1. underwater robot sensor fault diagnosis method is characterized in that may further comprise the steps:
A, utilize underwater robot depth transducer, speed pickup, direction sensor to detect underwater robot be in water headway data in depth data, the water, directional data, and become its corresponding voltage signal to deliver in the signal preprocessor of underwater robot these data-switching;
The signal preprocessor of b, described underwater robot is delivered to underwater robot sensor diagnostic device on the surface mother ship with the voltage signal of headway data, directional data in the depth data that obtains, the water by serial communication;
C, the underwater robot sensor fault diagnosis device is to the depth data from the different time series of underwater robot signal preprocessor, headway data in the water, the voltage signal of directional data carries out nonlinear principal component and analyzes the NPCA processing, obtain the underwater robot depth transducer, speed pickup, square error expected SPE of direction sensor, again to difference moment depth transducer, speed pickup, direction sensor is done similar processing, obtain at each underwater robot depth transducer constantly, speed pickup, square error expected SPE size distribution of direction sensor, utilize square error expected SPE saltus step numerical value, judge the underwater robot depth transducer, speed pickup, whether direction sensor breaks down, and realizes the underwater robot depth transducer, speed pickup, the detection of direction sensor.
2, underwater robot sensor fault diagnosis method according to claim 1, the method that it is characterized in that obtaining among the described step c square error expected SPE of underwater robot depth transducer, speed pickup, direction sensor is by reconstruct depth transducer, speed pickup, next signal magnitude constantly of direction sensor, subtract each other with this moment depth transducer, speed pickup, direction sensor measured signal and to utilize squared difference summation again, obtain square error expected SPE of underwater robot depth transducer, speed pickup, direction sensor.
3, underwater robot sensor fault diagnosis method according to claim 1, it is characterized in that also comprising the isolation step of a fault sensor, described isolation step is the measured signal that replaces next this sensor of the moment respectively with the reconstruction value of certain sensor i, other two sensors is still used measured signal, next measured signal and reconstruct prediction signal constantly of each sensor is subtracted each other, and the squared difference summation obtains square error expected SPE of underwater robot to this sensor i
i, work as SPE
iWhen having saltus step, then sensor i is normal, works as SPE
iWhen not having saltus step, sensor i fault then, thus isolate concrete fault sensor.
4, underwater robot sensor fault diagnosis method according to claim 1 is characterized in that adopting between the signal preprocessor of described underwater robot and the underwater robot sensor diagnostic system on the surface mother ship 485 serial line interfaces to carry out data transfer.
5, underwater robot sensor fault diagnosis method according to claim 1, it is characterized in that the underwater robot sensor fault diagnosis device among the described step c finishes sensor fault diagnosis by built-in controlling and driving program, this control program comprises 485 signal procedures, nonlinear principal component is analyzed the NPCA program, the simulated failure program, square error expected SPE calculation procedure of depth transducer, speed pickup, direction sensor and square error expected SPE of sensor i
iCalculation procedure five parts; Described 485 signal procedures drive the underwater robot signal preprocessor and finish the sensor signal transformation task; It is that sensor fault detects isolating tool that nonlinear principal component is analyzed the NPCA program, utilizes the sensor historical data to train; The fault setting program that described simulated failure program is a system; Square error expected SPE calculation procedure of described depth transducer, speed pickup, direction sensor is realized sensing system fault detect, square error expected SPE of sensor i
iCalculation procedure is finished the underwater robot sensor fault isolation.
6, a kind of underwater robot sensor fault diagnosis system is characterized in that comprising:
Be arranged at the depth transducer on the underwater robot, described depth transducer is in order to the degree of depth in the water of measuring underwater robot, and changes the depth data that records into degree of depth voltage signal;
Be arranged at the speed pickup on the underwater robot, described speed pickup is in order to measuring the headway of underwater robot, and is the velocity voltage signal with the headway transformation of data that records;
Be arranged at the direction sensor on the underwater robot, described direction sensor is in order to measuring the navigation direction of underwater robot, and changes the directional data that records into the direction voltage signal;
Be arranged on the underwater robot signal preprocessor on the underwater robot, the signal input part of described underwater robot signal preprocessor is connected with described depth transducer, speed pickup, direction sensor signal, to receive degree of depth voltage signal, velocity voltage signal, the direction voltage signal that described depth transducer, speed pickup, direction sensor send over;
Be arranged on the underwater robot sensor fault diagnosis device on the surface mother ship, be connected to receive the degree of depth voltage signal that the underwater robot signal preprocessor sends over by the serial communication data line between the signal output part of this underwater robot sensor fault diagnosis device and described underwater robot signal preprocessor, the velocity voltage signal, direction voltage signal and degree of depth voltage signal to receiving, the velocity voltage signal, the direction voltage signal carries out nonlinear principal component and analyzes the NPCA processing, obtain the underwater robot depth transducer, speed pickup, square error expected SPE of direction sensor, again to difference moment depth transducer, speed pickup, direction sensor is done similar processing, obtain at each underwater robot depth transducer constantly, speed pickup, square error expected SPE size distribution of direction sensor, utilize square error expected SPE saltus step numerical value, judge the underwater robot depth transducer, speed pickup, whether direction sensor breaks down, and realizes the underwater robot depth transducer, speed pickup, the detection of direction sensor.
7, underwater robot sensor fault diagnosis according to claim 6 system, it is characterized in that described underwater robot signal preprocessor includes signal amplification filtering module, the A/D converter that is connected with signal amplification filtering modular circuit, the multi-way switch module, 485 serial communication ports and microprocessor, described multi-way switch module input and each depth transducer, speed pickup, direction sensor connects, described multi-way switch module output terminal is connected with signal amplification filtering modular circuit input end, the A/D converter signal input part is connected with the output terminal of signal amplification filtering modular circuit, described microprocessor is connected with the A/D converter signal output part, and is connected with 485 serial communication ports.
8, underwater robot sensor fault diagnosis according to claim 6 system, it is characterized in that described underwater robot sensor fault diagnosis device, comprise fault data display module, DSP hardware circuit interface module, 485 serial communication ports, power supply, gauge tap, power supply is given whole device power supply, the input end of DSP hardware circuit interface module is connected with the underwater robot signal preprocessor by 485 serial communication ports, output termination fault data display module.
9, underwater robot sensor fault diagnosis according to claim 8 system is characterized in that described DSP hardware circuit interface module, comprises dsp system power circuit, clock and reset circuit, LCD interface circuit; The chip of described DSP hardware circuit interface module is a digital signal processor.
10, underwater robot sensor fault diagnosis according to claim 8 system, it is characterized in that described fault data display module comprises a LCD, described LCD has the display of drawing and text screen mixed display function for can show letter, numeric character, Chinese font and figure.
11, underwater robot sensor fault diagnosis according to claim 6 system, it is characterized in that, the isolation module that also comprises a fault sensor, described isolation module is connected with the output terminal of DSP hardware circuit interface module, this isolation module replaces next measured signal of this sensor constantly with the reconstruction value of certain sensor i respectively, other two sensors is still used measured signal, next measured signal and reconstruct prediction signal constantly of each sensor is subtracted each other, and the squared difference summation obtains square error expected SPE of underwater robot to this sensor i
i, work as SPE
iWhen having saltus step, then sensor i is normal, works as SPE
iWhen not having saltus step, sensor i fault then, thus isolate concrete fault sensor.
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