Abstract
The autonomous underwater vehicle (AUV) is mainly used in the development and exploration of the ocean. As an important module of the AUV, the actuator plays an important role in the normal execution of the AUV. Therefore, the fault diagnosis of the actuator is particularly important. At present, the research on the strong faults, such as the winding of the actuator, has achieved good results, but the research on the weak fault diagnosis is relatively rare. In this paper, the tri-stable stochastic resonance model is analyzed, and the ant colony tri-stable stochastic resonance model is used to diagnose the weak fault. The system accurately diagnoses the fault of the actuator collision and verifies the adaptive tri-stable stochastic resonance system. This model has better diagnostic results than the bi-stable stochastic resonance system.
Highlights
An autonomous underwater vehicle (AUV) usually performs various tasks in the complex marine environment, but the occurrence of failure will cause a loss that cannot be measured
Many scholars have made research results in AUV actuator fault diagnosis technology, but most of them focus on the hard faults of the actuator and the large loss of output, but less on the weak fault diagnosis
The dynamic model of the AUV thruster is analyzed, and the actuator current can be used in the fault diagnosis of the AUV actuator
Summary
An autonomous underwater vehicle (AUV) usually performs various tasks in the complex marine environment, but the occurrence of failure will cause a loss that cannot be measured. AUV itself is a strong nonlinear system with large inertia and large time-delay characteristics, which makes the theory and method of the actuator fault diagnosis. Through designing a self-feedback connection with fixed gain in the unit connection, as well as increasing the feedback of the output layer node, the improved Elman network has faster convergence speed and generalization ability This method for a high-order nonlinear system has stronger identification ability. The AUV can make a corresponding judgment and treatment in time to avoid the occurrence of greater accidents It can be seen from the above literature that the current fault diagnosis has a good effect on the diagnosis of strong faults, and most of them adopt the method of fault data training and actuator models. The second section is the related theory of the Tri-stable stochastic resonance fault diagnosis, which is introduced from (1) the AUV actuator dynamics model.
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