X Font Rudder Torpedo Fault Diagnosis And Fault-tolerant Control Technology

Reliability is a important part when an important equipment completing its work. Due to the uniqueness of the torpedo, system does not allow use of hardware redundancy. Fault-tolerant control becomes important method to improve safety, reliability and effectiveness of system. It is important to use fault detection and diagnosis and fault tolerant control into torpedo system to improve its reliability especially for large and long range guided torpedoes Control System Performance. X rudder vehicle has much superiority in control characteristics, in which fault tolerant is an important part. But research in this field is poor, traditional math model and simulation is based on cross rudder.In this article I introduced major theory in fault detection and diagnosis and fault tolerant control at first, then made some application in underwater vehicle. After that, this paper used some of the theory which realized in cross rudder in X rudder vehicle based on the equivalent conversion between them. This paper made some of the method integrated and discussed the control characteristics when there is fault. It completed the method to detect fault of the rudder through the roll stability and the steering linkage. At last we got a system to detect fault on sensor or rudder system. The paper also contains simulation research in situation of implementation of a fault-tolerant control.At present, there is lots of research in the theory of fault detection and diagnosis and fault tolerant control. But there's few application. Therefore, in addition to the theory research, this paper also contains some part of work on this field. First, we build a fault diagnosis and fault-tolerant control of a specific model of the torpedo. It was all built with module in simulink toolkit in MATLAB with all parameters easily adjustable. The model can be used both in X rudder and cross rudder and easily to add any fault module in it to get curve or data results. Most of the detection method and control characteristics were certified with this software model. Another work is a software which to make research in fault detection and diagnosis and fault tolerant...