CN109263840A - Propeller and active method for diagnosing faults in a kind of latent deep dive of underwater National People's Congress - Google Patents
Propeller and active method for diagnosing faults in a kind of latent deep dive of underwater National People's Congress Download PDFInfo
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- CN109263840A CN109263840A CN201810869574.0A CN201810869574A CN109263840A CN 109263840 A CN109263840 A CN 109263840A CN 201810869574 A CN201810869574 A CN 201810869574A CN 109263840 A CN109263840 A CN 109263840A
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- propeller
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- ballast
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- navigation system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/0703—Error or fault processing not based on redundancy, i.e. by taking additional measures to deal with the error or fault not making use of redundancy in operation, in hardware, or in data representation
- G06F11/079—Root cause analysis, i.e. error or fault diagnosis
Abstract
The invention belongs to underwater robot fields, and in particular to propeller and active method for diagnosing faults in a kind of latent deep dive of underwater National People's Congress.The propeller is by main part, dive ballast, floating ballast, control computer, inertial navigation system, depth gauge, the left propeller in horizontal direction, right propeller, the forward propeller and rear propeller for providing vertical direction thrust are constituted, active method for diagnosing faults of the present invention under water during the latent deep dive of the machine National People's Congress, can find as early as possible failure existing for propeller, recycling maintenance in time, dive is reduced to deep-sea, and finds failure again during executing job task, caused human and material resources lose；This method can find failure existing for vertical thrusters during dive in time, reduce underwater robot because propeller failure is located the risk in seabed.
Description
Technical field
The invention belongs to underwater robot fields, and in particular to propeller and master in a kind of latent deep dive of underwater National People's Congress
Dynamic method for diagnosing faults.
Background technique
Robot under big deep-water submersible, such as the abyss scientific investigation equipment architecture of full sea depth AUV, ARV and HOV composition is current sea
The mark of foreign development in science and technology highest level, the system will drive China's deep sea equipment the relevant technologies and abyss scientific research to reach generation
Boundary's advanced level.
But since robot is usually in unknown waters activity under big deep-water submersible, the environment of surrounding is complicated and changeable, propeller
It is probably damaged, breaks down.If failure is not timely detected, the completion of underwater operation task will affect, and hanging down
When failure to propeller, the risk in seabed is located there are underwater robot or even the risk will lead to underwater
People can not recycle, and bring massive losses for research.
Existing fault diagnosis technology is mostly diagnosed in task operation process, such as the patent No.
CN201610169230.X, it is entitled to be examined based on improved grey model prediction GM (1,1) model Autonomous Underwater Vehicle sensor fault
Disconnected method is to utilize grey forecasting model diagnostic sensor failure by collecting sensor information in job task.But it should
The diagnosis of method is dependent on the sensor information in job task, if propeller has existed failure before big latent deep operation,
It is just found in task, will lead to the interruption of task, recycling underwater robot can just be put into again after carrying out fault restoration
It uses, will cause the loss of human and material resources among these.
Patent No. CN201510766653.5, a kind of entitled Intelligent Underwater Robot propulsion based on improvement neural network
Device method for diagnosing faults executes active fault diagnosis when finding that lateral velocity and bow are more than threshold value to the residual error at angle,
Head and the tail, which hang down to pushing away, applies an equal amount of positive thrust, judges failure to angle residual error by bow.But this method only relies on bow to angle
Residual error judges whether failure, is difficult intuitively to find out the damage situations of propeller.
Therefore, the active trouble diagnosibility for studying underwater robot reduces for improving the intelligence of aircraft itself
Loss in job task is indispensable.However, previously described active method for diagnosing faults is all that robot is being held under water
During row task, failure is detected to the feedback of the states such as angle by bow.If dive is just sent out in job task to seabed
The failure of existing propeller, is unable to complete job task, needs underwater robot carrying out recycling maintenance, then lay again, and by
The dive floating-upward process time of robot is very long under big deep-water submersible, this process expends a large amount of human and material resources, or even underwater
There is the risk lost in robot.
Summary of the invention
It is an object of that present invention to provide propellers in a kind of latent deep dive of underwater National People's Congress.
Propeller in a kind of latent deep dive of underwater National People's Congress, the propeller is by main part 1, and dive ballast 2, float pressure
3 are carried, controls computer 4, inertial navigation system 5, depth gauge 6, the left propeller 7 in horizontal direction, right propeller 8 provides Vertical Square
It is constituted to the forward propeller 9 and rear propeller 10 of thrust, main part 1 is the class cuboid an of round edge, and forward propeller 9 is installed
In the middle part of the wherein one side of main part 1, rear propeller 10 is installed on the outside of main part 1 Yu 9 opposite side of forward propeller
Middle part, left propeller 7 are installed on the middle part of main part 1, control computer 4 be mounted on the non-forward propeller 9 of main part 1 with
The middle inside of the wherein one side in 10 place face of propeller afterwards, dive ballast 2 merges with floating ballast 3 is installed on main part 1
With the outer middle side part of control 4 opposite side of computer, inertial navigation system 5 is mounted on the interior of dive ballast 2 and 3 place face of floating ballast
Side midpoint, depth gauge 6 are installed on 5 side of inertial navigation system close to the side of rear propeller 10.
The object of the invention also reside in provide it is a kind of for underwater robot during big latent deep dive due to propeller therefore
Risk brought by hindering reduces propeller in the latent deep dive of the underwater National People's Congress lost due to potential propeller failure bring
Active method for diagnosing faults.
Propeller active method for diagnosing faults in a kind of latent deep dive of underwater National People's Congress, comprising the following steps:
Step 1, by crane from carry, cloth is put into water underwater robot 1, carries out floading condition adjustment；
Step 2, active diagnosing is carried out to the left propeller of horizontal plane 7 and right propeller 8:
Step 2.1, propeller 7 assigns predetermined thrust predetermined tempo control instruction to control computer 4 to the left；
Step 2.2, the measurement of inertial navigation system 5 resolves bow to angle and bow to angular rate of change, is sent to control computer 4；
Step 2.3, it controls the filter in computer 4 and estimates that turning bow torque thrust loss then sends a left side if more than threshold value
7 failure identification of propeller goes to step 2.7, otherwise goes to step 2.4 to lash ship；
Step 2.4, propeller 8 assigns predetermined thrust predetermined tempo control instruction to control computer 4 to the right；
Step 2.5, the measurement of inertial navigation system 5 resolves bow to angle and bow to angular rate of change, is sent to control computer 4；
Step 2.6, it controls the filter in computer 4 and estimates that turning bow torque thrust loss then sends the right side if more than threshold value
8 failure identification of propeller goes to step 2.7, otherwise goes to step 3 to lash ship；
Step 2.7, testing crew recycles underwater robot 1 and safeguards；
Step 3, to the forward propeller 9 and the progress active fault diagnosis of rear propeller 10 in vertical plane:
Step 3.1, control computer 4 pushes ahead device 9 simultaneously and rear propeller 10 assigns predetermined thrust predetermined tempo control
System instruction；
Step 3.2, the measurement of inertial navigation system 5 resolves vertical velocity, Angle of Trim and trim angular rate of change, is sent to control and calculates
Machine 4；
Step 3.3, the filter estimation Trimming Moment thrust loss controlled in computer 4 then goes to step if more than threshold value
Rapid 3.4, otherwise go to step 4；
Step 3.4, testing crew recycles underwater robot 1 and safeguards.
Step 4, control computer 4 is set under vertical thrusters non-failure conditions, and dive ballast 2 casts depth aside；
Step 5, underwater robot 1 is under the action of dive ballast 2, unpowered dive；
Step 6, control computer 4 judges whether to reach dive ballast 2 according to 6 information of depth gauge in the step 5
It casts height aside, casts height aside if reaching, go to step 9, otherwise go to step 7；
Step 7,4 registered depth meter of computer, 6 information is controlled, every dive 500m repeats step 2, carries out horizontal plane propulsion
Device active diagnosing goes to step 8 if not finding failure, otherwise it is assumed that in the case where horizontal propeller exists compared with major break down, very
Hardly possible completes predetermined exploration task, while casting dive ballast 2 and floating ballast 3 aside, floats to the water surface and is safeguarded；
Step 8, it repeats step 3 progress vertical plane propeller active diagnosing and goes to step 5 if not finding failure, otherwise,
Continue to determine whether it is that single vertical thrusters break down:
Step 8.1, control computer 4 pushes ahead device 8 and assigns predetermined thrust predetermined tempo control instruction；
Step 8.2, inertial navigation system 5 measures Angle of Trim and trim angular rate of change, is sent to control computer 4；
Step 8.3, the filter controlled in computer 4 estimates Trimming Moment thrust loss, if with estimated in step 2.6
Trimming Moment thrust loss between deviation be less than threshold value, then send 8 failure identification of forward propeller to lash ship, go to step 8.4,
Otherwise step 8.5 is gone to；
Step 8.4, control the modification increase dive ballast 2 of computer 4 casts depth aside；
Step 8.5, it is deposited in case of a fault in front and back vertical thrusters 9 and 10, it is believed that cast the moderating process of ballast aside
It there are greater risk, is easy to happen and is located seabed danger, control computer 4 issues instruction, and underwater robot 1 casts floating ballast aside
1 and dive ballast 2, testing crew recycling underwater robot 1 is simultaneously safeguarded.
Step 9, underwater robot 1 reaches predetermined dive ballast 2 and casts depth aside, and 1 jettisoning dive of underwater robot, which is thrown, carries 2,
Into work surface, start job task.
It is of the invention compared to the prior art, beneficial effect is:
1. active method for diagnosing faults of the present invention, under water during the latent deep dive of the machine National People's Congress, can send out as early as possible
Failure existing for existing propeller, recycling maintenance in time, reduction dive to deep-sea, and sent out again during executing job task
Existing failure, caused human and material resources loss；
2. active method for diagnosing faults of the present invention can find that vertical thrusters exist during dive in time
Failure, reduce underwater robot because of propeller failure and be located the risk in seabed.
Detailed description of the invention
Fig. 1 is the basic block diagram of example underwater robot of the present invention；
Fig. 2 is the latent deep dive process active diagnosing flow chart of the underwater National People's Congress of the present invention；
Fig. 3 is active diagnosing horizontal plane propeller fault detail flow chart of the present invention；
Fig. 4 is active diagnosing vertical plane propeller fault detail flow chart of the present invention.
Specific embodiment
The present invention is described in more detail with reference to the accompanying drawing:
A kind of underwater robot is during big latent deep dive, every dive certain depth, will pass through predetermined control instruction, leads to
Cross state feedback, the method for active detecting propeller failure.This method can reduce as far as possible repeats the lower machine that aborts because of failure
The loss of human and material resources brought by device people, while reducing the risk that underwater robot is located seabed.It is of the present invention to thrust
The filter that loss information is estimated, the motion model that underwater robot is utilized are established.
It is described the present invention provides a kind of method of underwater robot active diagnosing propeller failure in big latent deep dive
Active diagnosing method, i.e., under water during the latent deep dive of the machine National People's Congress, at interval of certain submerged depth, by control computer
Predetermined control instruction is assigned to horizontal plane and vertical plane propeller respectively.Filter in the control computer is according to underwater
The status feedback information of robot estimates thrust loss existing for corresponding freedom degree.Estimated thrust loss is more than setting threshold
Can when value, judging propeller, there are failures, judge whether to need to recycle maintenance further according to complete mission requirements.The dive
Depth information is provided by the depth gauge that underwater robot carries, and the status feedback information is provided by inertial navigation system.The present invention
The active method for diagnosing faults of offer, can under water during the latent deep dive of the machine National People's Congress, find existing for propeller as early as possible therefore
Barrier, in time recycling maintenance reduce dive to deep-sea, just find people caused by failure during executing job task
Power, material resources loss；Meanwhile during dive, in time find vertical thrusters existing for failure, can reduce underwater robot because
Seabed risk is located for what vertical thrusters failure occurred.
The present invention provides propeller active diagnosing method in a kind of latent deep dive of underwater National People's Congress, comprising the following steps:
Step 1, underwater robot is hung onto water by crane from lash ship carry, and carries out floading condition adjustment；
Step 2, active diagnosing horizontal plane propeller failure: control computer is respectively under left and right propeller in horizontal direction
Up to the control instruction of predetermined thrust predetermined tempo, inertial navigation system obtains bow to angle and bow to angular rate of change, and passes through filter
Thrust loss existing for horizontal freedom degree is estimated, if the thrust loss is more than threshold value, then it is assumed that propeller exists
Failure sends failure identification from control computer to lash ship, and testing crew recycles underwater robot；
Step 3, active diagnosing vertical plane propeller failure: control computer assigns the front and back propeller in vertical direction
Control instruction, inertial navigation system obtains vertical velocity and Angle of Trim change information, and is estimated by filter to thrust loss
Meter, if the thrust loss is more than threshold value, it is believed that there are failures for propeller, recycle underwater robot and safeguard；
Step 4, initializing set dive ballast casts depth aside, which will be according to the fault condition of vertical plane propeller
Carry out subsequent correction；
Step 5, the unpowered dive of underwater robot；
Step 6, judged whether to reach the depth for casting ballast aside according to the information of depth gauge, cast depth aside if reaching, go to
Step 9, step 7 is otherwise gone to；
Step 7, underwater robot registered depth meter information, every dive 500m is deep, repeats step 2 active diagnosing horizontal plane and pushes away
Into device failure, if not finding failure, step 8 is gone to, otherwise recycle underwater robot and propeller is safeguarded；
Step 8, step 3 active diagnosing vertical plane propeller failure is repeated to go to step 5 if not finding failure, otherwise divide
It is other that control instruction is assigned to propeller before and after vertical plane, judge whether it is that single vertical thrusters break down.If only single
Vertical thrusters failure, then the dive ballast in amendment step 4 casts depth aside, otherwise recycle underwater robot and to propeller into
Row maintenance；
Step 9, underwater robot reaches the depth for casting dive ballast aside, casts dive ballast aside, into work surface, starts to make
Industry task；
Fig. 1 is the basic structure schematic diagram of robot under big deep-water submersible used by example of the present invention, due to the underwater machine
Device people's propeller arrangement form already belongs to simple mode, the active method for diagnosing faults, if applying in other different numbers
It measures under the big deep-water submersible of propeller in robot, it is only necessary to specific underwater robot is directed to, to the propeller for needing active diagnosing
Number is adjusted, and the thought of entire active fault diagnosis is consistent.As shown in Figure 1, machine under the big deep-water submersible
People is by main part 1, dive ballast 2, floating ballast 3, controls computer 4, inertial navigation system 5, depth gauge 6, in horizontal direction
Left propeller 7, right propeller 8, the forward propeller 9 and rear propeller 10 for providing vertical direction thrust are constituted.
Below with reference to Fig. 2 to Fig. 4, the process of underwater robot propeller active fault diagnosis is further elaborated:
Step 1, by crane from carry, cloth is put into water underwater robot 1, carries out floading condition adjustment；
Step 2, active diagnosing is carried out to the left propeller of horizontal plane 7 and right propeller 8:
Step 2.1, propeller 7 assigns predetermined thrust predetermined tempo control instruction to control computer 4 to the left；
Step 2.2, the measurement of inertial navigation system 5 resolves bow to angle and bow to angular rate of change, is sent to control computer 4；
Step 2.3, it controls the filter in computer 4 and estimates that turning bow torque thrust loss then sends a left side if more than threshold value
7 failure identification of propeller goes to step 2.7, otherwise goes to step 2.4 to lash ship；
Step 2.4, propeller 8 assigns predetermined thrust predetermined tempo control instruction to control computer 4 to the right；
Step 2.5, the measurement of inertial navigation system 5 resolves bow to angle and bow to angular rate of change, is sent to control computer 4；
Step 2.6, it controls the filter in computer 4 and estimates that turning bow torque thrust loss then sends the right side if more than threshold value
8 failure identification of propeller goes to step 2.7, otherwise goes to step 3 to lash ship；
Step 2.7, testing crew recycles underwater robot 1 and safeguards；
Step 3, to the forward propeller 9 and the progress active fault diagnosis of rear propeller 10 in vertical plane:
Step 3.1, control computer 4 pushes ahead device 9 simultaneously and rear propeller 10 assigns predetermined thrust predetermined tempo control
System instruction；
Step 3.2, the measurement of inertial navigation system 5 resolves vertical velocity, Angle of Trim and trim angular rate of change, is sent to control and calculates
Machine 4；
Step 3.3, the filter estimation Trimming Moment thrust loss controlled in computer 4 then goes to step if more than threshold value
Rapid 3.4, otherwise go to step 4；
Step 3.4, testing crew recycles underwater robot 1 and safeguards.
Step 4, control computer 4 is set under vertical thrusters non-failure conditions, and dive ballast 2 casts depth aside；
Step 5, underwater robot 1 is under the action of dive ballast 2, unpowered dive；
Step 6, control computer 4 according to 6 information of depth gauge judge whether reach dive ballast 2 cast aside height, if arriving
Up to height is cast aside, step 9 is gone to, step 7 is otherwise gone to；
Step 7,4 registered depth meter of computer, 6 information is controlled, every dive 500m repeats step 2, carries out horizontal plane propulsion
Device active diagnosing goes to step 8 if not finding failure, otherwise it is assumed that in the case where horizontal propeller exists compared with major break down, very
Hardly possible completes predetermined exploration task, while casting dive ballast 2 and floating ballast 3 aside, floats to the water surface and is safeguarded；
Step 8, it repeats step 3 progress vertical plane propeller active diagnosing and goes to step 5 if not finding failure, otherwise,
Continue to determine whether it is that single vertical thrusters break down:
Step 8.1, control computer 4 pushes ahead device 8 and assigns predetermined thrust predetermined tempo control instruction；
Step 8.2, inertial navigation system 5 measures Angle of Trim and trim angular rate of change, is sent to control computer 4；
Step 8.3, the filter controlled in computer 4 estimates Trimming Moment thrust loss, if with estimated in step 2.6
Trimming Moment thrust loss between deviation be less than threshold value, then send 8 failure identification of forward propeller to lash ship, go to step 8.4,
Otherwise step 8.5 is gone to；
Step 8.4, control the modification increase dive ballast 2 of computer 4 casts depth aside；
Step 8.5, it is deposited in case of a fault in front and back vertical thrusters 9 and 10, it is believed that cast the moderating process of ballast aside
It there are greater risk, is easy to happen and is located seabed danger, control computer 4 issues instruction, and underwater robot 1 casts floating ballast aside
1 and dive ballast 2, testing crew recycling underwater robot 1 is simultaneously safeguarded.
Step 9, underwater robot 1 reaches predetermined dive ballast 2 and casts depth aside, and 1 jettisoning dive of underwater robot, which is thrown, carries 2,
Into work surface, start job task.
The filter of the present invention estimated thrust loss information, builds according to the motion model of underwater robot
It is vertical, using the status information of underwater robot, estimate the thrust loss in different freedom degrees.It, can using the filter
Judge that can the fault condition of propeller, aid decision continue to execute test mission.
Step 1, underwater robot is hung onto water by crane from lash ship carry, and carries out floading condition adjustment；
Step 2, active diagnosing horizontal plane propeller failure: control computer is respectively under left and right propeller in horizontal direction
Up to the control instruction of predetermined thrust predetermined tempo, inertial navigation system obtains bow to angle and bow to angular rate of change, and passes through filter
Thrust loss existing for horizontal freedom degree is estimated, if the thrust loss is more than threshold value, then it is assumed that propeller exists
Failure sends failure identification from control computer to lash ship, and testing crew recycles underwater robot；
Step 3, active diagnosing vertical plane propeller failure: control computer assigns the front and back propeller in vertical direction
Control instruction, inertial navigation system obtains vertical velocity and Angle of Trim change information, and is estimated by filter to thrust loss
Meter, if the thrust loss is more than threshold value, it is believed that there are failures for propeller, recycle underwater robot and safeguard；
Step 4, initializing set dive ballast casts depth aside, which will be according to the fault condition of vertical plane propeller
Carry out subsequent correction；
Step 5, the unpowered dive of underwater robot；
Step 6, judged whether to reach the depth for casting ballast aside according to the information of depth gauge, cast depth aside if reaching, go to
Step 9, step 7 is otherwise gone to；
Step 7, underwater robot registered depth meter information, every dive 500m is deep, repeats step 2 active diagnosing horizontal plane and pushes away
Into device failure, if not finding failure, step 8 is gone to, otherwise recycle underwater robot and propeller is safeguarded；
Step 8, step 3 active diagnosing vertical plane propeller failure is repeated to go to step 5 if not finding failure, otherwise divide
It is other that control instruction is assigned to propeller before and after vertical plane, judge whether it is that single vertical thrusters break down.If only single
Vertical thrusters failure, then the dive ballast in amendment step 4 casts depth aside, otherwise recycle underwater robot and to propeller into
Row maintenance；
Step 9, underwater robot reaches the depth for casting dive ballast aside, casts dive ballast aside, into work surface, starts to make
Industry task.
Claims (2)
1. propeller in a kind of latent deep dive of underwater National People's Congress, it is characterised in that: the propeller is by main part (1), dive
Ballast (2), floating ballast (3) control computer (4), inertial navigation system (5), depth gauge (6), the left propeller in horizontal direction
(7), right propeller (8), the forward propeller (9) and rear propeller (10) for providing vertical direction thrust are constituted, and main part (1) is
The class cuboid of one round edge, forward propeller (9) are installed on the middle part of main part (1) wherein one side, rear propeller (10) peace
Outer middle side part loaded on main part (1) Yu forward propeller (9) opposite side, left propeller (7) are installed on main part (1)
Middle part, control computer (4) be mounted on main part (1) non-forward propeller (9) and rear propeller (10) where face wherein
Middle inside on one side, dive ballast (2) merges with floating ballast (3) is installed on main part (1) and control computer (4) phase
To the outer middle side part of one side, point in the inside in face where inertial navigation system (5) is mounted on dive ballast (2) and floating ballast (3)
It sets, depth gauge (6) is installed on the side beside inertial navigation system (5) close to rear propeller (10).
2. the active method for diagnosing faults of propeller in a kind of latent deep dive of underwater National People's Congress, which is characterized in that this method packet
Include following steps:
Step 1, by crane from carry, cloth is put into water underwater robot 1, carries out floading condition adjustment；
Step 2, active diagnosing is carried out to the left propeller of horizontal plane (7) and right propeller (8):
Step 2.1, propeller (7) assigns predetermined thrust predetermined tempo control instruction to the left for control computer (4)；
Step 2.2, according to predetermined thrust predetermined tempo control instruction, inertial navigation system (5) measurement resolves bow and becomes to angle and bow to angle
Rate is sent to control computer (4)；
Step 2.3, the bow that the inertial navigation system according to step 2.2 (5) measurement resolves to angle and bow to angular rate of change, count by control
In calculation machine (4) filter estimation turn bow torque thrust loss, if more than threshold value, then send (7) failure identification of left propeller to
Lash ship goes to step 2.7, otherwise goes to step 2.4；
Step 2.4, according to the judgement of step 2.3, controlling computer (4), propeller (8) assigns predetermined thrust predetermined tempo to the right
Control instruction；
Step 2.5, the predetermined thrust predetermined tempo control instruction according to step 2.4, inertial navigation system (5) measurement resolve bow to
Angle and bow are sent to control computer (4) to angular rate of change；
Step 2.6, the bow that the inertial navigation system according to step 2.5 (5) measurement resolves to angle and bow to angular rate of change, count by control
In calculation machine (4) filter estimation turn bow torque thrust loss, if more than threshold value, then send (8) failure identification of right propeller to
Lash ship goes to step 2.7, otherwise goes to step 3；
Step 2.7, according to the judgement of step 2.6, testing crew judges whether to recycle underwater robot 1 and safeguard；
Step 3, to the forward propeller (9) and rear propeller (10) progress active fault diagnosis in vertical plane:
Step 3.1, control computer (4) pushes ahead device (9) simultaneously and rear propeller (10) assigns predetermined thrust predetermined tempo
Control instruction；
Step 3.2, the predetermined thrust predetermined tempo control instruction according to step 3.1, inertial navigation system (5) measurement resolve vertical speed
Degree, Angle of Trim and trim angular rate of change are sent to control computer (4)；
Step 3.3, the vertical velocity that the inertial navigation system according to step 3.2 (5) measurement resolves, Angle of Trim and Angle of Trim variation
Rate, the filter estimation Trimming Moment thrust loss controlled in computer (4) then go to step 3.4, otherwise if more than threshold value
Go to step 4；
Step 3.4, according to the judgement of step 3.3, testing crew recycling underwater robot 1 is simultaneously safeguarded；
Step 4, under control computer (4) setting vertical thrusters non-failure conditions, dive ballast (2) casts depth aside；
Step 5, according to the depth of casting aside of dive ballast (2), underwater robot 1 is under the action of dive ballast (2), under unpowered
It is latent；
Step 6, control computer (4) judges whether to reach dive ballast (2) according to the information of depth gauge (6) in the step 5
Cast aside height, if reach cast aside height, go to step 9, otherwise go to step 7；
Step 7, according to the judgement of step 6, computer (4) registered depth meter (6) information is controlled, every dive 500m repeats step
2, carry out horizontal plane propeller active diagnosing and if not finding failure go to step 8, otherwise it is assumed that horizontal propeller exist compared with
In the case where major break down, it is difficult to complete predetermined exploration task, while casts dive ballast (2) and floating ballast (3) aside, floats to
The water surface is safeguarded；
Step 8, it repeats step 3 progress vertical plane propeller active diagnosing and goes to step 5 if not finding failure, otherwise, continue
Judge whether it is that single vertical thrusters break down:
Step 8.1, control computer (4) pushes ahead device (9) and assigns predetermined thrust predetermined tempo control instruction；
Step 8.2, the predetermined thrust predetermined tempo control instruction according to step 8.1, inertial navigation system (5) measure Angle of Trim and indulge
Change of pitch angle rate is sent to control computer (4)；
Step 8.3, the Angle of Trim and trim angular rate of change of the inertial navigation system according to step 8.2 (5) measurement, controls computer
(4) filter in estimates Trimming Moment thrust loss, if between Trimming Moment thrust loss estimated in step 2.6 partially
Difference is less than threshold value, then sends forward propeller (9) failure identification to lash ship, go to step 8.4, otherwise go to step 8.5；
Step 8.4, control computer (4) modification increase dive ballast (2) casts depth aside；
Step 8.5, it is deposited in case of a fault in preflow push device (9) and backward propeller (10), it is believed that cast subtracting for ballast aside
Fast process is easy to happen there are greater risk and is located seabed danger, and control computer (4) issues instruction, underwater human agent
Partially (1) casts floating ballast (3) and dive ballast (2) aside, and testing crew recycling underwater robot is simultaneously safeguarded；
Step 9, underwater robot 1 reaches predetermined dive ballast (2) and casts depth aside, 1 jettisoning dive ballast (2) of underwater robot,
Into work surface, start job task.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111319731A (en) * | 2020-03-16 | 2020-06-23 | 上海交通大学 | Fault diagnosis method for ballast water equipment |
| CN113129559A (en) * | 2019-12-31 | 2021-07-16 | 国创新能源汽车智慧能源装备创新中心(江苏)有限公司 | Fault early warning system and method for power distribution robot |
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