Research On Fault Diagnosis For UUV Propulsive System Based On Behavior

In recent years,with the development and utilization of marine resources,the human beings desire for the exploitation of marine resources becomes more and more strong.In the aspects of the development and utilization of marine resources,Unmaned Underwater Vehicle(UUV),as a very useful tool for the human,has attracted more and more attention.The environment of the seawater changes unpredictably,Human beings can not monitor the real-time working state of UUV.During the long working time under water,failures maybe occur in the whole UUV system,which may result in great economic losses and the loss of scientific research.Therefore UUV needs to improve the ability of fault diagnosis,how to improve the reliability of the UUV system is becoming a hot issue in the research field of the UUV.The propulsion system is the basis of the UUV movement ability,failure probability of which is very high.According to the behavior,this paper explores the relationship between UUV behavior and propulsion system,and tries to provide the results of fault diagnosis which enjoys credibility.First of all,the article introduces the overall structure of UUV and the mathematical model,and mainly presents the propulsion control system and motion sensing system.Then this paper analyzes the propulsion system model and its fault characteristics briefly.This paper classifies the behavior of UUV,and puts forward the research of fault diagnosis based on UUV perceptual behavior.Secondly,the diagnosis is carried on for UUV behavior by the observer in the global perspective.For monitoring the working state of the propeller,the method of using the armature current of thruster is proposed for fault diagnosis based on fusion.And using the wavelet transform for the sensor fault diagnosis is proposed.Finally,Multi-feature decision fusion method based on D-S evidence theory is introduced for propulsion system fault diagnosis.The evaluation of decision fusion rules are described in detail.In order to verify the feasibility and effectiveness of the above method,the article designs a number of simulation cases at the end.This paper presents the method of fault diagnosis for propulsion system based on the behavior of the UUV,and try to find a more reliable fault diagnosis method.