Research On Modularized Autonomous Underwater Vehicle And Its Fault Diagnosis

With the increasing of research and exploration to the ocean day by day, the field of autonomous underwater vehicle technology gets cognitions from the domestic and international researchers more and more. But every underwater vehicle can only load limited equipments, especially for the miniature body, which can't satisfy the request to the function diversification of underwater vehicle obviously. Therefore, the research on AUV's system structure based on the modular technology is one of the important problem in the field of AUV's technology.In this paper, we do the research on AUV's system structure based on the modular technology and carry on the research work in modular design of AUV's structure and function. And we do the research on the basic movement control and the fault diagnosis based on this modularized AUV. Followings are the main works of this thesis:Firstly, we develop and manufacture the basic function modules of AUV's mechanical body based on the modular technology principles. And AUV's hardware system platform gets the module division based on the function of useage, which realizes the unification between the hardware modules and the mechanical body modules. AUV's three function modules, including the control module cabin, the driving module cabin and the executive module cabin, are formed by such way of module division. Simultaneously, we solve the connection standardization question of the modules and realize the restructure feature of modularized AUV.Secondly, we put forward the seal method named "double-seal", which resolves the seal problems of each module unit part and the whole assembly body. All of these above guarantee the safety of AUV when it works under water. Meanwhile, we design and manufacture other accessories including propeller retainer, shielded box of compass, joint parts and etc.Thirdly, we develope the modularized underwater vehicle's hardware system, determine the overall control system plan and complete the design of control software, which realize the basic movement control and motion monitoring of this underwater vehicle.Finally, we complete the motion model of this underwater vehicle based on the Elman neural network and the capability model of performance system based on its work principles and characters. We design the method of the fault simulation of performance system, monitor and dignosis several typical faults, and summarize the diagnosis rules of these faults.In this paper, we make the research on AUV's system structure based on the modular technology, and develop a modularized underwater vehicle experiment prototype named "Sea-shuttle". We realize the system's integration. The results of pool test indicate the validity and feasibility of "Sea-shuttle" as a modular experiment platform for the research.