CN102539182A - Autonomous remotely-operated vehicle (ARV) fault diagnosis principal component analysis device - Google Patents
Autonomous remotely-operated vehicle (ARV) fault diagnosis principal component analysis device Download PDFInfo
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Abstract
The invention discloses an autonomous remotely-operated vehicle (ARV) underwater robot fault diagnosis principal component analysis method and a device used for the method. The device comprises a sensor system, an embedded type controller, an optical transmitter and receiver and a water surface monitoring system, wherein all sensors arranged in the sensor system are connected with a signal input end of the embedded type controller by signal transmission lines; the embedded type controller is connected with a signal input end of the optical transmitter and receiver by an optical fiber; an output end of the optical transmitter and receiver is connected with the water surface monitoring system; and principal component analysis fault diagnosis software is stored in the water surface monitoring system. The analysis device disclosed by the invention fills a gap in the research of reliability control technology which directly serves an underwater robot, and has the characteristics of an untethered autonomous underwater robot and a cable-controlled unmanned underwater robot at the same time, so that the novel unmanned ARV fault diagnosis principal component analysis method and the device used for the method are worked out, and innovation can be realized in the field.
Description
Technical field
The present invention relates to underwater robot condition monitoring technical field, particularly a kind of ARV fault diagnosis pca method and device.
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 (Unmanned Underwater 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: 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 is that the patent of US5995992 discloses a kind of 6 feet long of being used for Marine Sciences measurement and search, and 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 accomplish 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 underwater robot reliability control technology is almost still blank, particularly takes into account no cable autonomous underwater robot AUV (Autonomous Underwater Vehicle) and does not see that with the fault detect of the novel unmanned underwater robot ARV of the unmanned underwater robot ROV of cable control (Remotely-operated Vehicle) characteristics and the research of isolation technology any patent is open.
In sum, to the defective of prior art, need a kind of cable control autonomous underwater robot ARV (Autonomous Remotely-operated Vehicle) automatic fault diagnosis apparatus and method especially, with the problem of mentioning more than solving.
Summary of the invention
The object of the present invention is to provide a kind of ARV fault diagnosis pca method and device, taken into account carrying a little of no cable autonomous underwater robot and the unmanned underwater robot of cable control, thereby realize the object of the invention.
The technical matters that the present invention solved can adopt following technical scheme to realize:
ARV fault diagnosis pivot analysis device is characterized in that, comprises sensing system, embedded controller, fiber optic and monitor surface system;
Said sensing system comprises:
Depth transducer is arranged on the underwater robot, is used for measuring the degree of depth of underwater robot at water, and changes the depth data that records into degree of depth voltage signal; Speed pickup is used to measure the headway of underwater robot, and is the velocity voltage signal with the headway transformation of data that records; Attitude sensor is used to measure the attitude under water of underwater robot, and changes the directional data that records into the attitude voltage signal; Sonar sensor is used to measure underwater robot forward sight environment, and changes the view data that records into voltage signal; Optical imaging sensor is used to measure the underwater robot surrounding environment, and changes the view data that records into voltage signal; The battery cell monitoring sensor is used to measure underwater robot electric battery state, and changes the electric battery status data into voltage signal; The thruster monitoring sensor is used to measure the underwater robot propeller rotating speed, and changes the thruster rotary speed data into voltage signal;
Said embedded controller is installed on the underwater robot; The signal input part of embedded controller is connected with the signal output part of the sensor, is used to receive degree of depth voltage signal, velocity voltage signal, attitude voltage signal, sonar voltage signal, optical voltage signal, battery status voltage signal, the thruster of-state voltage signal that the sensor sends over; Said embedded controller inside is provided with the communication module that is used for driving sensor signal transformation task;
Said fiber optic is provided with a pair of, is installed in respectively on surface mother ship and the underwater robot, connects through optical fiber between two fiber optics, realizes data transmission through the RS-485 serial communication; The signal input part that is positioned at the fiber optic on the underwater robot is connected with the signal output part of embedded controller, and the signal output part of the fiber optic on the surface mother ship is connected with the monitor surface system, guarantees that the underwater sensor information transmission is to the monitor surface system;
Said monitor surface system is installed on the surface mother ship, the inside of monitor surface system be provided with the sensor signal transformation task communication module, utilize the sensor historical data to train and underwater robot is carried out pivot analysis PCA (Principal Component Analysis) module, sensor signal square error expected SPE (the Squared Prediction Error) computing module of realizing the underwater robot system failure detection that fault detect isolates, accomplishes the signal square error expected SPE of the sensor i that the underwater robot system failure isolates
iComputing module.
In one embodiment of the invention; Said embedded controller comprises signal amplification filtering module, A/D converter, multi-way switch module, serial communication interface and microprocessor; The input end of said multi-way switch module is connected with the output terminal of depth transducer, speed pickup, attitude sensor, sonar sensor, optical imaging sensor, battery cell monitoring sensor, propelling monitoring sensor; The output terminal of said multi-way switch module is connected with the input end of signal amplification filtering modular circuit; The A/D converter signal input part is connected with the output terminal of signal amplification filtering modular circuit; Said microprocessor is connected with the A/D converter signal output part, and is connected with serial communication interface.
In one embodiment of the invention, said monitor surface device comprises fault data display module, DSP hardware circuit interface module, serial communication port, power supply and CS; Said power supply is used for to whole device power supply, and the input end of DSP hardware circuit interface module is connected with the underwater robot signal preprocessor through serial communication interface, and the output terminal of DSP hardware circuit interface module connects the fault data display module.
In one embodiment of the invention, said DSP hardware circuit interface module comprises dsp system power circuit, clock and reset circuit, LCD interface circuit; The chip of said DSP hardware circuit interface module is a digital signal processor.
In one embodiment of the invention, said LCD interface circuit is connected with a LCD, and said LCD is to show letter, numeric character, Chinese font and figure, and has the display of drawing and text screen mixed display function.
In one embodiment of the invention, the output terminal of said DSP hardware circuit interface module is connected with the fault data display module, liquid crystal display displays sensor square error expected SPE
iWith concrete fault sensor sign.
ARV fault diagnosis pca method is characterized in that said method comprises the steps:
1) sensing system is exported degree of depth voltage signal, velocity voltage signal, attitude voltage signal, sonar voltage signal, optical voltage signal, battery status voltage signal, thruster of-state voltage signal and is inserted embedded controller;
2) embedded controller to voltage signal amplify, filter preprocessing and A/D conversion, send into underwater robot monitor surface system through 485 serial line interfaces of fiber optic;
3) the monitor surface system handles carrying out pivot analysis from the serial sensor voltage signal of the different time of embedded controller; Next signal magnitude constantly of each sensor of reconstruct; Subtract each other with this moment sensor measured signal and to utilize squared difference summation again; Obtain square error expected SPE of underwater robot sensor system, difference moment sensing system is done similar processing, obtain square error expected SPE size distribution in each underwater robot sensor system constantly; Utilize square error expected SPE saltus step numerical value, judge whether the underwater robot system breaks down;
4) break down as detecting parts, all failure messages are shown on liquid crystal LCD.
In one embodiment of the invention; The decision method whether said underwater robot system breaks down is: utilize the reconstruction value of certain sensor i to replace next measured signal of this sensor constantly 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 corresponding component i is normal, works as SPE
iWhen not having saltus step, corresponding component i fault then.
Beneficial effect of the present invention is:
1. with pivot analysis PCA the underwater robot status signal is handled, utilized the historical data of status signal that PCA is trained, utilize the pca model after training to carry out underwater robot signal reconstruction prediction constantly in future; Calculate square error expected SPE of underwater robot system, have mapping relations between square error expected SPE distribution of searching underwater robot system and its malfunction;
2. using under water respectively, the state reconstruction value of certain parts i of robot replaces next measured signal of these parts constantly; Other parts are still used measured signal; Next measured signal and reconstruct prediction signal constantly of each parts is subtracted each other; The squared difference summation obtains square error expected SPEi of underwater robot to these parts i, realizes the fault isolation of underwater robot system, and a kind of underwater robot diagnosis method for system fault and device of practicality are provided.
Description of drawings
Fig. 1 is the structured flowchart of ARV fault diagnosis pivot analysis device of the present invention.
Fig. 2 is the schematic diagram of dsp system power circuit of the present invention.
Fig. 3 is the circuit theory diagrams of clock of the present invention and reset circuit.
Fig. 4 is the circuit theory diagrams of LCD interface circuit of the present invention.
Fig. 5 is the schematic flow sheet of ARV fault diagnosis pca method of the present invention.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect and be easy to understand and understand, below in conjunction with embodiment, further set forth the present invention.
As shown in Figure 1, ARV fault diagnosis pivot analysis device of the present invention is formed by connecting underwater robot sensor system 1, embedded controller 2, fiber optic 3, monitor surface system 4.Underwater robot sensor system 1 includes depth transducer 11, speed pickup 12, attitude sensor 13, sonar sensor 14, optical imaging sensor 15, battery cell monitoring sensor 16, advances monitoring sensor 17 and signal transmssion line; Depth transducer 11, speed pickup 12, attitude sensor 13, sonar sensor 14, optical imaging sensor 15, battery cell monitoring sensor 16, propelling monitoring sensor 17 are connected through signal transmssion line with the signal input part of embedded controller 2.The signal output part of embedded controller 2 is connected with fiber optic 31 (underwater portion), and fiber optic 31 output terminals are connected with fiber optic 32 (water surface part), is connected through 485 serial optical fibre communication lines between fiber optic 31 and the fiber optic 32; The output terminal of fiber optic 32 is connected with the signal input part of monitor surface system 4.
Embedded controller 2 is sealed in the ARV underwater robot carrier; Include signal amplification filtering module, A/D converter, multi-way switch module, 485 serial communication ports and microprocessor; The input end of multi-way switch module is connected with each signal transducer; Said multi-way switch module output terminal is connected with signal amplification filtering modular circuit input end; The input end of A/D converter signal is connected with the output terminal of signal amplification filtering modular circuit, and said microprocessor is connected with the A/D converter signal output part, and is connected with 485 serial communication ports.
Fiber optic 3 comprises the fiber optic 32 on the fiber optic that is sealed in the ARV underwater robot carrier 31 and the surface mother ship, and both connect through optical fiber, adopt RS-485 serial communication mode to transmit the sensor signal of underwater robot;
In the monitor surface system 3; The isolation module that also comprises a fault sensor; Said isolation module is connected with the output terminal of DSP hardware circuit interface module, and this isolation module replaces next measured signal of this sensor constantly with the reconstruction value of certain sensor i respectively, and 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 corresponding components i is normal, works as SPE
iWhen not having saltus step, corresponding components i fault then, thus isolate concrete trouble unit.
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 is as shown in Figure 2, and clock and reset circuit are as shown in Figure 3 respectively, and the LCD interface circuit is as shown in Figure 4.Foregoing circuit is known to those skilled in the art, does not do detailed description at this.
Be arranged at depth transducer on the underwater robot in order to the degree of depth in the water of measuring underwater robot, and change the depth data that records into degree of depth voltage signal;
Be arranged at speed pickup on the underwater robot in order to measuring the headway of underwater robot, and be the velocity voltage signal the headway transformation of data that records;
Be arranged at that attitude sensor on the underwater robot is first in order to the commentaries on classics of measuring underwater robot, trim and rolling direction, and change the directional data that records into the relevant voltage signal;
Be arranged at sonar sensor on the underwater robot in order to measuring the place ahead image of underwater robot, and change the view data that records into the relevant voltage signal;
Be arranged on the underwater robot optical imaging sensor in order to measure underwater robot around image, and change the view data that records into the relevant voltage signal;
Be arranged at battery cell monitoring sensor on the underwater robot in order to measuring underwater robot electric battery duty, and change the status data that records into the relevant voltage signal;
Be arranged at propelling monitoring sensor on the underwater robot in order to measuring the duty of underwater robot propeller, and change the status data that records into the relevant voltage signal;
The signal input part that is arranged on the embedded controller on the underwater robot is connected with said depth transducer, speed pickup, attitude sensor, sonar sensor, optical imaging sensor, battery cell monitoring sensor, thruster monitoring sensor signal, with degree of depth voltage signal, velocity voltage signal, attitude voltage signal, sonar voltage signal, optical voltage signal, battery status voltage signal, the thruster of-state voltage signal that receives said depth transducer, speed pickup, attitude sensor, sonar sensor, optical imaging sensor, battery cell monitoring sensor, advances monitoring sensor to send over.
The fiber optic 32 that is arranged on fiber optic 31 and the surface mother ship on the underwater robot is connected through optical fiber, adopts sensor signal that RS-485 serial communication mode transmits underwater robot to the monitor surface system;
The monitor surface system that is arranged on the surface mother ship is connected with fiber optic 32 output terminals on the underwater robot, carries out pivot analysis PCA and handles to receive various signals that embedded controller sends over, and carry out underwater robot fault detect and isolation.This monitor surface system analyzes functions such as data, the detecting sensor system failure, isolated fault parts and is mainly accomplished by its built-in controlling and driving program, and this control program comprises square error expected SPE calculation procedure of 485 signal procedures, pivot analysis PCA program, sensing system, square error expected SPE of sensor i
iCalculation procedure and fail result DP display processor five parts, 485 signal procedures drive the underwater robot embedded controller and accomplish the sensor signal transformation task; Pivot analysis PCA program is that sensor fault detects, isolating tool, utilizes the sensor historical data to train; Square error expected SPE calculation procedure of sensing system is realized underwater robot system failure detection, square error expected SPE of sensor i
iCalculation procedure is accomplished the underwater robot trouble unit and is isolated; The fail result display routine shows and warning the malfunction of underwater robot in real time.
As shown in Figure 5 when whole utility model is worked: depth transducer 11, speed pickup 12, attitude sensor 13, sonar sensor 14, optical imaging sensor 15, battery cell monitoring sensor 16, propelling monitoring sensor 17 and signal transmssion line; Depth transducer 11, speed pickup 12, attitude sensor 13, sonar sensor 14, optical imaging sensor 15, battery cell monitoring sensor 16, propelling monitoring sensor 17 are exported the voltage signal corresponding with each signal respectively, and insert embedded controller 2; In the embedded controller 2, to voltage signal amplify, filter preprocessing and A/D conversion, send into underwater robot monitor surface system 4 through 485 serial line interfaces of fiber optic 3; In monitor surface system 4; The serial sensor voltage signal of different time of coming embedded controller 2 is carried out pivot analysis PCA (Principal ComponentAnalysis) to be handled; The signal magnitude in each each and every one next moment of sensor of reconstruct; Subtract each other with this moment sensor measured signal and to utilize squared difference summation again; Obtain square error expected SPE (Squared Prediction Error) of underwater robot sensor system, difference moment sensing system is done similar processing, obtain square error expected SPE size distribution in each underwater robot sensor system constantly; Utilize square error expected SPE saltus step numerical value, judge whether the underwater robot system breaks down; The trouble unit partition method of underwater robot system; It 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 corresponding component i is normal, works as SPE
iWhen not having saltus step, corresponding component i fault then.Detected trouble unit is isolated, at last all failure messages are shown on liquid crystal LCD.
The course of work of the present invention: a new A RV (Autonomous Remotely-operated Vehicle) underwater robot; It is experiment carrier of the present invention; Seven kinds of sensors (degree of depth, speed, attitude, sonar, optics, battery cell monitoring, propelling monitoring) are installed in ARV under water on the carrier; Connect each equipment according to Fig. 1 structure, the fault diagnosis flow scheme by Fig. 5 carries out underwater robot fault detect and isolation processing again.Press " signal sampling " button of monitor surface system 4 film face-plates; Then monitor surface system 4 starts signal procedure driving underwater robot embedded controller 2, sends into monitor surface system 4 and preservation through the voltage signal that the serial line interface of fiber optic 3 is monitored the sensor degree of depth, speed, attitude, sonar, optics, battery cell monitoring, propelling just often; Press " PCA training " button of monitor surface system 4 film face-plates; Then monitor surface system 4 starts PCA training managing program; Historical signal with the degree of depth of gathering, speed, attitude, sonar, optics, battery cell monitoring, propelling monitoring is carried out the PCA training managing, has obtained preserving the pca model of underwater robot sensor information; Press " fault detect " button of monitor surface system 4 film face-plates; Then monitor surface system 4 starts fault detection program; The duty of the distribution of square error expected SPE of calculating underwater robot sensor system and judgement underwater robot system; Show the distribution situation of square error expected SPE by the liquid crystal circuit of Fig. 4, and judge that the underwater robot system has non-fault to take place; Press monitor surface system 4 film face-plates " fault isolation " button; Then monitor surface system 4 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. 4
iDistribution situation, and judge concrete trouble unit.
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 explains principle of the present invention; Under the prerequisite that does not break away from spirit and scope of the invention, the present invention also has various changes and modifications, and these variations and improvement all fall in the scope of the invention that requires protection.The present invention requires protection domain to be defined by appending claims and equivalent thereof.
Claims (8)
1.ARV (Autonomous Remotely-operated Vehicle) fault diagnosis pivot analysis device is characterized in that, comprises sensing system, embedded controller, fiber optic and monitor surface system;
Said sensing system is arranged on the underwater robot, comprising:
Depth transducer is used for measuring the degree of depth of underwater robot at water, and changes the depth data that records into degree of depth voltage signal; Speed pickup is used to measure the headway of underwater robot, and is the velocity voltage signal with the headway transformation of data that records; Attitude sensor is used to measure the attitude under water of underwater robot, and changes the directional data that records into the attitude voltage signal; Sonar sensor is used to measure underwater robot forward sight environment, and changes the view data that records into voltage signal; Optical imaging sensor is used to measure the underwater robot surrounding environment, and changes the view data that records into voltage signal; The battery cell monitoring sensor is used to measure underwater robot electric battery state, and changes the electric battery status data into voltage signal; The thruster monitoring sensor is used to measure the underwater robot propeller rotating speed, and changes the thruster rotary speed data into voltage signal;
Said embedded controller is installed on the underwater robot; The signal input part of embedded controller is connected with the signal output part of the sensor, is used to receive degree of depth voltage signal, velocity voltage signal, attitude voltage signal, sonar voltage signal, optical voltage signal, battery status voltage signal, the thruster of-state voltage signal that the sensor sends over; Said embedded controller inside is provided with the communication module that is used for driving sensor signal transformation task;
Said fiber optic is provided with a pair of, is installed in respectively on surface mother ship and the underwater robot, connects through optical fiber between two fiber optics, realizes data transmission through the RS-485 serial communication; The signal input part that is positioned at the fiber optic on the underwater robot is connected with the signal output part of embedded controller, and the signal output part of the fiber optic on the surface mother ship is connected with the monitor surface system, guarantees that the underwater sensor information transmission is to the monitor surface system;
Said monitor surface system is installed on the surface mother ship, the inside of monitor surface system be provided with the sensor signal transformation task communication module, utilize the sensor historical data to train and underwater robot is carried out pivot analysis PCA module, the sensor signal square error expected SPE computing module of realizing the underwater robot system failure detection that fault detect isolates, accomplishes the sensor signal square error expected SPE that the underwater robot system failure is isolated
iComputing module.
2. ARV fault diagnosis pivot analysis device according to claim 1; It is characterized in that; Said embedded controller comprises signal amplification filtering module, A/D converter, multi-way switch module, serial communication interface and microprocessor; The input end of said multi-way switch module is connected with the output terminal of depth transducer, speed pickup, attitude sensor, sonar sensor, optical imaging sensor, battery cell monitoring sensor, propelling monitoring sensor; The output terminal of said multi-way switch module is connected with the input end of signal amplification filtering modular circuit; The A/D converter signal input part is connected with the output terminal of signal amplification filtering modular circuit, and said microprocessor is connected with the A/D converter signal output part, and is connected with serial communication interface.
3. ARV fault diagnosis pivot analysis device according to claim 1 is characterized in that said monitor surface device comprises fault data display module, DSP hardware circuit interface module, serial communication port, power supply and CS; Said power supply is used for to whole device power supply, and the input end of DSP hardware circuit interface module is connected with the underwater robot signal preprocessor through serial communication interface, and the output terminal of DSP hardware circuit interface module connects the fault data display module.
4. ARV fault diagnosis pivot analysis device according to claim 3 is characterized in that said DSP hardware circuit interface module comprises dsp system power circuit, clock and reset circuit, LCD interface circuit; The chip of said DSP hardware circuit interface module is a digital signal processor.
5. ARV fault diagnosis pivot analysis device according to claim 3; It is characterized in that; Said LCD interface circuit is connected with a LCD; Said LCD is to show letter, numeric character, Chinese font and figure, and has the display of drawing and text screen mixed display function.
6. ARV fault diagnosis pivot analysis device according to claim 3 is characterized in that the output terminal of said DSP hardware circuit interface module is connected with the fault data display module, liquid crystal display displays sensor square error expected SPE
iWith concrete fault sensor sign.
7.ARV the fault diagnosis pca method is characterized in that, said method comprises the steps:
1) sensing system is exported degree of depth voltage signal, velocity voltage signal, attitude voltage signal, sonar voltage signal, optical voltage signal, battery status voltage signal, thruster of-state voltage signal and is inserted embedded controller;
2) embedded controller to voltage signal amplify, filter preprocessing and A/D conversion, send into underwater robot monitor surface system through 485 serial line interfaces of fiber optic;
3) the monitor surface system handles carrying out pivot analysis from the serial sensor voltage signal of the different time of embedded controller; The signal magnitude in each each and every one next moment of sensor of reconstruct; Subtract each other with this moment sensor measured signal and to utilize squared difference summation again; Obtain square error expected SPE of underwater robot sensor system, difference moment sensing system is done similar processing, obtain square error expected SPE size distribution in each underwater robot sensor system constantly; Utilize square error expected SPE saltus step numerical value, judge whether the underwater robot system breaks down;
4) break down as detecting parts, all failure messages are shown on liquid crystal LCD.
8. ARV fault diagnosis pca method according to claim 7; It is characterized in that; The decision method whether said underwater robot system breaks down is: utilize the reconstruction value of certain sensor i to replace next measured signal of this sensor constantly respectively; Other two sensors is still used measured signal, and 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 corresponding component i is normal, works as SPE
iWhen not having saltus step, corresponding component i fault then.
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