CN109263840B - Underwater robot large-submergence depth submergence thruster and active fault diagnosis method - Google Patents
Underwater robot large-submergence depth submergence thruster and active fault diagnosis method Download PDFInfo
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- CN109263840B CN109263840B CN201810869574.0A CN201810869574A CN109263840B CN 109263840 B CN109263840 B CN 109263840B CN 201810869574 A CN201810869574 A CN 201810869574A CN 109263840 B CN109263840 B CN 109263840B
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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 the field of underwater robots, and particularly relates to a large-submergence deep-submergence middle-submergence propeller of an underwater robot and an active fault diagnosis method. The active fault diagnosis method can find faults of the propeller as early as possible in the process of large-submergence and deep-submergence of the underwater robot, recover and maintain in time, reduce the loss of manpower and material resources caused by the fact that the propeller is submerged to the deep sea and finds faults again in the process of executing an operation task; according to the method, in the submerging process, the fault of the vertical propeller can be found in time, and the risk that the underwater robot is located on the seabed due to the fault of the propeller is reduced.
Description
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to a large-submergence deep-submergence middle-submergence propeller of an underwater robot and an active fault diagnosis method.
Background
The deep-water scientific investigation equipment system composed of the large-potential deep-water robots, such as the whole-sea deep AUV, the ARV and the HOV, is the highest-level mark of the current ocean technology development, and the system can drive the related technology of the deep-sea equipment and the deep-water scientific research in China to reach the advanced level in the world.
However, as the robot moves in an unknown water area frequently under the deep underwater with large submergence, the surrounding environment is complex and changeable, and the propeller is likely to be damaged and break down. If the fault is not detected in time, the completion of the underwater operation task can be influenced, and when the vertical propeller breaks down, the risk that the underwater robot is located on the seabed exists, even the risk can cause the underwater robot to be incapable of being recovered, and huge loss is brought to research.
Most of the existing fault diagnosis technologies are used for diagnosing in a task operation process, for example, patent No. cn201610169230.x, which is named as an autonomous underwater vehicle sensor fault diagnosis method based on an improved gray prediction GM (1,1) model, and is used for diagnosing sensor faults by collecting sensor information and using a gray prediction model in an operation task. However, the diagnosis of the method depends on sensor information in an operation task, if a propeller has a fault before large-submergence operation, the fault is found in the task, the task is interrupted, and the recovery underwater robot can be used again after fault repair, so that loss of manpower and material resources is caused.
The patent number CN201510766653.5 is named as an intelligent underwater robot propeller fault diagnosis method based on an improved neural network, when the fact that the residual error of the transverse speed and the heading angle exceeds a threshold value is found, active fault diagnosis is carried out, forward thrust with the same magnitude is exerted on head and tail vertical thrust, and faults are judged through the residual error of the heading angle. However, the method only depends on the heading angle residual error to judge whether the propeller is in fault or not, and the damage condition of the propeller is difficult to visually see.
Therefore, research on the active fault diagnosis capability of the underwater robot is essential to improve the intelligence of the aircraft and reduce the loss in the work task. However, the active fault diagnosis methods described above detect a fault through feedback of the state of the heading angle and the like during the task execution of the underwater robot. If the underwater robot submerges to the seabed, the propeller is found to have a fault in the operation task, the operation task cannot be completed, the underwater robot needs to be recovered and maintained and then is re-laid, and the submerging and surfacing process of the underwater robot under the large submergence is long in time, so that a large amount of manpower and material resources are consumed in the process, and even the underwater robot has the risk of loss.
Disclosure of Invention
The invention aims to provide a large-submergence deep-submergence middle propeller of an underwater robot.
A large-submergence deep-submergence middle propeller of an underwater robot is composed of a main body part 1, a submergence ballast 2, an ascent ballast 3, a control computer 4, an inertial navigation system 5, a depth gauge 6, a left propeller 7 and a right propeller 8 in the horizontal direction, a front propeller 9 and a rear propeller 10 which provide thrust in the vertical direction, wherein the main body part 1 is a round-edged cuboid, the front propeller 9 is installed in the middle of one surface of the main body part 1, the rear propeller 10 is installed in the middle of the outer side of the main body part 1 opposite to the front propeller 9, the left propeller 7 is installed in the middle of the main body part 1, the control computer 4 is installed in the middle of the inner side of one surface of the main body part 1 where the front propeller 9 and the rear propeller 10 are located, the submergence ballast 2 and the ascent ballast 3 are combined and installed in the middle of the outer side of the main body part 1, the inertial navigation system 5 is arranged at the middle point of the inner side of the plane where the submerged ballast 2 and the floating ballast 3 are arranged, and the depth gauge 6 is arranged at one side close to the rear propeller 10 beside the inertial navigation system 5.
The invention also aims to provide an active fault diagnosis method for the underwater robot large-submergence and deep-submergence thruster, which aims at the risk caused by the fault of the thruster in the large-submergence and deep-submergence process of the underwater robot and reduces the loss caused by the fault of the potential thruster.
An active fault diagnosis method for a large-submergence deep-submergence underwater vehicle propeller comprises the following steps:
step 2.1, controlling the computer 4 to issue a preset thrust preset beat control instruction to the left thruster 7;
step 2.2, the inertial navigation system 5 measures and calculates the heading angle and the change rate of the heading angle, and sends the calculated heading angle and the change rate of the heading angle to the control computer 4;
step 2.3, a filter in the control computer 4 estimates the thrust loss of the heading moment, if the thrust loss is larger than a threshold value, a fault identification of the left propeller 7 is sent to the mother ship, the step 2.7 is carried out, and if the thrust loss is not larger than the threshold value, the step 2.4 is carried out;
step 2.4, controlling the computer 4 to issue a preset thrust preset beat control instruction to the right thruster 8;
step 2.5, the inertial navigation system 5 measures and calculates the heading angle and the change rate of the heading angle, and sends the calculated heading angle and the change rate of the heading angle to the control computer 4;
step 2.6, a filter in the control computer 4 estimates the thrust loss of the heading turning moment, if the thrust loss is larger than a threshold value, a fault identifier of the right propeller 8 is sent to the mother ship, the step 2.7 is carried out, and otherwise, the step 3 is carried out;
step 2.7, the tester recovers and maintains the underwater robot 1;
step 3.1, the control computer 4 simultaneously sends a preset thrust preset beat control instruction to the front propeller 9 and the rear propeller 10;
step 3.2, the inertial navigation system 5 measures and calculates the vertical speed, the pitch angle and the pitch angle change rate, and sends the vertical speed, the pitch angle and the pitch angle change rate to the control computer 4;
3.3, controlling a filter in the computer 4 to estimate the thrust loss of the pitching moment, if the thrust loss is greater than a threshold value, turning to the step 3.4, and otherwise, turning to the step 4;
and 3.4, recovering and maintaining the underwater robot 1 by the tester.
7, the control computer 4 records information of the depth gauge 6, repeats the step 2 every time the horizontal thruster is submerged for 500m, carries out active diagnosis on the horizontal thruster, and goes to the step 8 if no fault is found, otherwise, the preset exploration task is difficult to complete under the condition that the horizontal thruster has a large fault, and the submerged ballast 2 and the floating ballast 3 are thrown away and float to the water surface for maintenance;
and 8, repeating the step 3 to carry out active diagnosis on the vertical plane thruster, if no fault is found, turning to the step 5, otherwise, continuously judging whether a single vertical thruster fails:
step 8.1, controlling the computer 4 to issue a preset thrust preset beat control instruction to the front propeller 8;
step 8.2, the inertial navigation system 5 measures the pitch angle and the pitch angle change rate and sends the measured pitch angle and the measured pitch angle change rate to the control computer 4;
step 8.3, controlling a filter in the computer 4 to estimate the thrust loss of the pitching moment, if the deviation between the thrust loss of the pitching moment estimated in the step 2.6 and the thrust loss of the pitching moment estimated in the step 2.6 is less than a threshold value, sending a fault identifier of the front propeller 8 to the mother ship, turning to the step 8.4, and otherwise, turning to the step 8.5;
step 8.4, the computer 4 is controlled to modify and increase the throwing-off depth of the submerged ballast 2;
and 8.5, under the condition that the front vertical thruster 9 and the rear vertical thruster 10 both have faults, considering that the deceleration process of the ballast throwing away has a large risk and is easy to have a seabed landing danger, sending an instruction by the control computer 4, throwing away the floating ballast 1 and the submerging ballast 2 by the underwater robot 1, and recovering and maintaining the underwater robot 1 by a tester.
And 9, when the underwater robot 1 reaches the preset throwing depth of the submerged ballast 2, throwing the submerged ballast 2 off by the underwater robot 1, entering the working surface, and starting a working task.
Compared with the prior art, the invention has the beneficial effects that:
1. the active fault diagnosis method can find the fault of the propeller as early as possible in the process of large-submergence and deep-submergence of the underwater robot, recover and maintain in time, and reduce the loss of manpower and material resources caused by the fact that the propeller is submerged to the deep sea and finds the fault again in the process of executing an operation task;
2. the active fault diagnosis method can find the fault of the vertical propeller in time in the submergence process, and reduces the risk that the underwater robot is located on the seabed due to the fault of the propeller.
Drawings
FIG. 1 is a basic block diagram of an exemplary underwater robot of the present invention;
FIG. 2 is a flow chart of active diagnosis of the underwater robot during the high-submergence and deep-submergence process;
FIG. 3 is a detailed flow chart of the present invention for actively diagnosing faults of a horizontal thruster;
FIG. 4 is a detailed flow chart of the present invention for actively diagnosing faults of a vertical plane thruster.
Detailed Description
The invention is described in more detail below with reference to the accompanying drawings:
a method for actively detecting faults of a propeller by a underwater robot through state feedback through a preset control instruction every time the underwater robot submerges at a certain depth in a large submergence depth submerging process. The method can reduce the loss of manpower and material resources caused by repeatedly throwing the underwater robot due to faults as much as possible, and simultaneously reduce the risk of the underwater robot sitting on the seabed. The filter for estimating the thrust loss information utilizes the motion model of the underwater robot to establish.
The invention provides a method for actively diagnosing faults of a propeller of an underwater robot in a large diving depth diving process. And a filter in the control computer estimates thrust loss existing in corresponding freedom degrees according to state feedback information of the underwater robot. And when the estimated thrust loss exceeds a set threshold value, judging that the propeller has a fault, and judging whether to need recovery maintenance according to the requirement of finishing the task. The submergence depth information is provided by a depth meter carried by the underwater robot, and the state feedback information is provided by an inertial navigation system. The active fault diagnosis method provided by the invention can find the fault of the propeller as early as possible in the process of large-submergence and deep-submergence of the underwater robot, and can timely recover and maintain the propeller, so that the loss of manpower and material resources caused by the fact that the propeller is submerged to the deep sea and the fault is found in the process of executing an operation task is reduced; meanwhile, in the submergence process, the fault of the vertical propeller is found in time, and the seabed locating risk of the underwater robot caused by the fault of the vertical propeller can be reduced.
The invention provides an active diagnosis method for a large-submergence deep-submergence intermediate propeller of an underwater robot, which comprises the following steps:
and 8, repeating the step 3 to actively diagnose the faults of the vertical plane thruster, if the faults are not found, turning to the step 5, otherwise, respectively issuing control instructions to the front thruster and the rear thruster on the vertical plane, and judging whether a single vertical thruster breaks down. If only a single vertical thruster fails, correcting the underwater ballast throwing-off depth in the step 4, otherwise, recovering the underwater robot and maintaining the thruster;
9, when the underwater robot reaches the depth of throwing away the submerged ballast, entering an operation surface and starting an operation task;
fig. 1 is a schematic diagram of a basic structure of a large-submersible-depth underwater robot used in an example of the present invention, and since the arrangement form of the thrusters of the underwater robot belongs to a simple mode, the active fault diagnosis method only needs to adjust the number of thrusters needing active diagnosis for a specific underwater robot when applied to large-submersible-depth underwater robots with different numbers of thrusters, and the idea of the whole active fault diagnosis is consistent. As can be seen from fig. 1, the large underwater diving robot is composed of a main body part 1, a diving ballast 2, a floating ballast 3, a control computer 4, an inertial navigation system 5, a depth gauge 6, a left propeller 7 in the horizontal direction, a right propeller 8, a front propeller 9 and a rear propeller 10 providing a thrust in the vertical direction.
The following will further describe the flow of active fault diagnosis of the underwater robot propeller with reference to fig. 2 to 4:
step 2.1, controlling the computer 4 to issue a preset thrust preset beat control instruction to the left thruster 7;
step 2.2, the inertial navigation system 5 measures and calculates the heading angle and the change rate of the heading angle, and sends the calculated heading angle and the change rate of the heading angle to the control computer 4;
step 2.3, a filter in the control computer 4 estimates the thrust loss of the heading moment, if the thrust loss is larger than a threshold value, a fault identification of the left propeller 7 is sent to the mother ship, the step 2.7 is carried out, and if the thrust loss is not larger than the threshold value, the step 2.4 is carried out;
step 2.4, controlling the computer 4 to issue a preset thrust preset beat control instruction to the right thruster 8;
step 2.5, the inertial navigation system 5 measures and calculates the heading angle and the change rate of the heading angle, and sends the calculated heading angle and the change rate of the heading angle to the control computer 4;
step 2.6, a filter in the control computer 4 estimates the thrust loss of the heading turning moment, if the thrust loss is larger than a threshold value, a fault identifier of the right propeller 8 is sent to the mother ship, the step 2.7 is carried out, and otherwise, the step 3 is carried out;
step 2.7, the tester recovers and maintains the underwater robot 1;
step 3.1, the control computer 4 simultaneously sends a preset thrust preset beat control instruction to the front propeller 9 and the rear propeller 10;
step 3.2, the inertial navigation system 5 measures and calculates the vertical speed, the pitch angle and the pitch angle change rate, and sends the vertical speed, the pitch angle and the pitch angle change rate to the control computer 4;
3.3, controlling a filter in the computer 4 to estimate the thrust loss of the pitching moment, if the thrust loss is greater than a threshold value, turning to the step 3.4, and otherwise, turning to the step 4;
and 3.4, recovering and maintaining the underwater robot 1 by the tester.
7, the control computer 4 records information of the depth gauge 6, repeats the step 2 every time the horizontal thruster is submerged for 500m, carries out active diagnosis on the horizontal thruster, and goes to the step 8 if no fault is found, otherwise, the preset exploration task is difficult to complete under the condition that the horizontal thruster has a large fault, and the submerged ballast 2 and the floating ballast 3 are thrown away and float to the water surface for maintenance;
and 8, repeating the step 3 to carry out active diagnosis on the vertical plane thruster, if no fault is found, turning to the step 5, otherwise, continuously judging whether a single vertical thruster fails:
step 8.1, controlling the computer 4 to issue a preset thrust preset beat control instruction to the front propeller 8;
step 8.2, the inertial navigation system 5 measures the pitch angle and the pitch angle change rate and sends the measured pitch angle and the measured pitch angle change rate to the control computer 4;
step 8.3, controlling a filter in the computer 4 to estimate the thrust loss of the pitching moment, if the deviation between the thrust loss of the pitching moment estimated in the step 2.6 and the thrust loss of the pitching moment estimated in the step 2.6 is less than a threshold value, sending a fault identifier of the front propeller 8 to the mother ship, turning to the step 8.4, and otherwise, turning to the step 8.5;
step 8.4, the computer 4 is controlled to modify and increase the throwing-off depth of the submerged ballast 2;
and 8.5, under the condition that the front vertical thruster 9 and the rear vertical thruster 10 both have faults, considering that the deceleration process of the ballast throwing away has a large risk and is easy to have a seabed landing danger, sending an instruction by the control computer 4, throwing away the floating ballast 1 and the submerging ballast 2 by the underwater robot 1, and recovering and maintaining the underwater robot 1 by a tester.
And 9, when the underwater robot 1 reaches the preset throwing depth of the submerged ballast 2, throwing the submerged ballast 2 off by the underwater robot 1, entering the working surface, and starting a working task.
The filter for estimating the thrust loss information is established according to a motion model of the underwater robot, and the thrust loss on different degrees of freedom is estimated by using the state information of the underwater robot. By utilizing the filter, the fault condition of the propeller can be judged, and whether the test task can be continuously executed or not can be determined in an auxiliary way.
and 8, repeating the step 3 to actively diagnose the faults of the vertical plane thruster, if the faults are not found, turning to the step 5, otherwise, respectively issuing control instructions to the front thruster and the rear thruster on the vertical plane, and judging whether a single vertical thruster breaks down. If only a single vertical thruster fails, correcting the underwater ballast throwing-off depth in the step 4, otherwise, recovering the underwater robot and maintaining the thruster;
and 9, when the underwater robot reaches the depth of throwing away the submerged ballast, entering a working surface and starting a working task.
Claims (1)
1. An active diagnosis method for a large-submergence-depth submerging propeller of an underwater robot comprises a main body part (1), a submerging ballast (2), a floating ballast (3), a control computer (4), an inertial navigation system (5), a depth meter (6), a left propeller (7) in the horizontal direction, a right propeller (8), a front propeller (9) and a rear propeller (10) which provide vertical thrust, wherein the main body part (1) is a round-edge cuboid, the front propeller (9) is arranged in the middle of one surface of the main body part (1), the rear propeller (10) is arranged in the middle of the outer side of the main body part (1) opposite to the front propeller (9), the left propeller (7) is arranged in the middle of the main body part (1), the control computer (4) is arranged in the middle of the inner side of one surface of the main body part (1) where the non-front propeller (9) and the rear propeller (10) are located, the submerged ballast (2) and the floating ballast (3) are installed in the middle of the outer side of one face, opposite to the control computer (4), of the main body part (1), the inertial navigation system (5) is installed at the middle position of the inner side of the face where the submerged ballast (2) and the floating ballast (3) are located, and the depth gauge (6) is installed on one side, close to the rear propeller (10), of the side of the inertial navigation system (5); the method is characterized by comprising the following steps:
step 1, carrying out floating state adjustment on an underwater robot by a crane and laying the underwater robot in water;
step 2, actively diagnosing the horizontal plane left propeller (7) and the horizontal plane right propeller (8):
step 2.1, controlling the computer (4) to issue a preset thrust preset beat control instruction to the left propeller (7);
step 2.2, according to a preset thrust preset beat control instruction, the inertial navigation system (5) measures and calculates a heading angle and a heading angle change rate, and sends the heading angle and the heading angle change rate to the control computer (4);
step 2.3, according to the heading angle and the heading angle change rate measured and calculated by the inertial navigation system (5) in the step 2.2, a filter in the control computer (4) estimates the thrust loss of the heading turning moment, if the thrust loss is greater than a threshold value, a fault identifier of the left propeller (7) is sent to the mother ship, the step 2.7 is carried out, and if the thrust loss is not greater than the threshold value, the step 2.4 is carried out;
step 2.4, controlling the computer (4) to issue a preset thrust preset beat control instruction to the right propeller (8) according to the judgment of the step 2.3;
step 2.5, according to the preset thrust preset beat control instruction in the step 2.4, the inertial navigation system (5) measures and calculates a heading angle and a heading angle change rate, and sends the heading angle and the heading angle change rate to the control computer (4);
step 2.6, according to the heading angle and the heading angle change rate measured and calculated by the inertial navigation system (5) in the step 2.5, a filter in the control computer (4) estimates the thrust loss of the heading turning moment, if the thrust loss is greater than a threshold value, a fault identifier of a right propeller (8) is sent to a mother ship, the step 2.7 is carried out, and if the thrust loss is not greater than the threshold value, the step 3 is carried out;
step 2.7, according to the judgment of the step 2.6, a tester judges whether to recover and maintain the underwater robot;
and 3, performing active fault diagnosis on the front propeller (9) and the rear propeller (10) in the vertical plane:
step 3.1, the control computer (4) simultaneously sends a preset thrust preset beat control instruction to the front propeller (9) and the rear propeller (10);
step 3.2, according to the preset thrust preset beat control instruction in the step 3.1, the inertial navigation system (5) measures and calculates the vertical speed, the pitch angle and the pitch angle change rate, and sends the vertical speed, the pitch angle and the pitch angle change rate to the control computer (4);
3.3, controlling a filter in the computer (4) to estimate the thrust loss of the pitching moment according to the vertical speed, the pitch angle and the pitch angle change rate measured and calculated by the inertial navigation system (5) in the step 3.2, if the thrust loss is greater than a threshold value, turning to the step 3.4, otherwise, turning to the step 4;
step 3.4, according to the judgment of the step 3.3, the tester recovers the underwater robot and maintains the underwater robot;
step 4, the control computer (4) sets the throwing-off depth of the submerged ballast (2) under the condition that the vertical propeller has no fault;
step 5, unpowered submerging of the underwater robot under the action of the submerging ballast (2) according to the throwing-off depth of the submerging ballast (2);
step 6, the control computer (4) judges whether the throwing height of the submerged ballast (2) is reached according to the information of the depth meter (6) in the step 5, if the throwing height is reached, the step 9 is carried out, and if the throwing height is not reached, the step 7 is carried out;
step 7, according to the judgment of the step 6, controlling the computer (4) to record the information of the depth gauge (6), repeating the step 2 every time the horizontal thruster is submerged for 500m, and if the fault is not found, turning to the step 8, otherwise, considering that the horizontal thruster has a large fault, the preset exploration task is difficult to complete, and meanwhile, the submerged ballast (2) and the floating ballast (3) are thrown away and floated to the water surface for maintenance;
and 8, repeating the step 3 to carry out active diagnosis on the vertical plane thruster, if no fault is found, turning to the step 5, otherwise, continuously judging whether a single vertical thruster fails:
step 8.1, controlling the computer (4) to send a preset thrust preset beat control instruction to the front propeller (9);
step 8.2, according to the preset thrust preset beat control instruction in the step 8.1, the inertial navigation system (5) measures a pitch angle and a pitch angle change rate and sends the measured pitch angle and the pitch angle change rate to the control computer (4);
step 8.3, controlling a filter in the computer (4) to estimate the pitching moment thrust loss according to the pitch angle and the pitch angle change rate measured by the inertial navigation system (5) in the step 8.2, if the deviation between the pitch moment thrust loss estimated in the step 2.6 and the pitching moment thrust loss estimated in the step is less than a threshold value, sending a fault identifier of a front propeller (9) to a mother ship, turning to the step 8.4, and otherwise, turning to the step 8.5;
step 8.4, the computer (4) is controlled to modify and increase the throwing-off depth of the submerged ballast (2);
8.5, under the condition that both the front propeller (9) and the rear propeller (10) have faults, considering that a great risk exists in the ballast throwing-off deceleration process, the danger of sitting on the seabed is easy to occur, controlling the computer (4) to send out an instruction, throwing off the floating ballast (3) and the submerging ballast (2) from the underwater robot main body part (1), and recovering and maintaining the underwater robot by a tester;
and 9, when the underwater robot reaches the preset underwater ballast (2) throwing-off depth, throwing off the underwater ballast (2) by the underwater robot, entering a working surface and starting a working task.
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| CN111319731A (en) * | 2020-03-16 | 2020-06-23 | 上海交通大学 | Fault diagnosis method for ballast water equipment |
| CN115092344B (en) * | 2022-07-14 | 2024-03-19 | 中国科学院沈阳自动化研究所 | Counterweight and weight layout method for posture adjustment of large-depth underwater robot |
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| JPS62191299A (en) * | 1986-02-17 | 1987-08-21 | Tokyo Keiki Co Ltd | Automatic steering device for ship |
| JP2001097280A (en) * | 1999-09-30 | 2001-04-10 | Aiwa Co Ltd | Safe dive monitoring device for diver |
| CN201189952Y (en) * | 2008-05-06 | 2009-02-04 | 赛赫 | Submersible |
| CN101323363B (en) * | 2008-07-30 | 2010-09-08 | 哈尔滨工程大学 | Large depth unmanned submersible and depth composite control method thereof |
| CN101462587B (en) * | 2009-01-16 | 2011-01-05 | 哈尔滨工程大学 | Redundant controlled microminiature underwater robot, and method for failure diagnosis and fault tolerant control |
| CN104477359B (en) * | 2014-10-27 | 2016-08-24 | 中国船舶重工集团公司第七〇五研究所 | Underwater robot multiple degrees of freedom vector propulsion layout method |
| CN105446821B (en) * | 2015-11-11 | 2019-05-17 | 哈尔滨工程大学 | A kind of Intelligent Underwater Robot propeller method for diagnosing faults based on improvement neural network |
| CN106527133A (en) * | 2016-11-11 | 2017-03-22 | 哈尔滨工程大学 | Multi-paddle coordination control distribution method for ship |
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