Study On Fault Diagnose Technology Based On Qualitative Simulation For AUV

With the increase of ocean research, more and more researchs apply themselves to the development of autonomous underwater vehicle (AUV) which is an important tool in the completement of many special missions. As a vehicle which works in complicated oceanic environment, autonomy and security are the basis for AUV.With the increasing development and enhancement of AUV function, the complexity of AUV system is also increasing with them, thus its security has been more and more paid attention to. The fault diagnosis technology can guarantee the AUV safety, Correct understanding of the essential characteristics of AUV and setting up a precise fault diagnosis model can make the fault diagnosis of AUV more accurate and real-time.This paper explains the mechanism and process of qualitative emulation and illation, brings forward the method to discourses the non-line system action like the underwater robot using qualitative emulation, elicits conversion connection of the qualitative action of the non-line system, builds state conversion connection of non-line system, and analyses the reason why typical system produces qualitative redundancy action, validates the feasibility of the qualitative emulation in non-line system.This paper takes the open-shelf underwater robot "Beaver" which is self-developed by underwater carrier and intelligent control technology lab in Harbin Engineering university as the studying object, according as the peculiarity and dynamics model of the open-shelf underwater robot, builds the qualitative differential equation based on the method of qualitative emulation, elicits the fault action conversion connection of the underwater robot, and builds the qualitative fault diagnosis model of the underwater robot finally. On the basis of building the qualitative fault diagnosis model of the underwater robot, validates the qualitative fault diagnosis model of the robot according to experiment data, testifies the feasibility of the qualitative emulation used in fault diagnose of the underwater robot. Aim at the disadvantage that qualitative emulation ignores lots of quantitative information when building system model, this paper adds relevant quantitative information to build fault qualitative model for fault examination, and improves the veracity of fault examination, at last validates the validity by the experiment data.