Approach to the study of AUV control algorithms in the event of faults in its equipment

Abstract

The stand for modeling the functioning of subsystems of an autonomous underwater vehicle and its control system is considered, the possibility of testing algorithms in the event of malfunctions in the equipment is analyzed - with-out interfering with the regular operation of algorithms placed in the form of programs on the standard hardware. An approach is proposed for conducting research related to the occurrence of malfunctions in the equipment of the subsystems of the apparatus and aimed at testing the operation of the algorithms for the functioning of the subsys-tems of the apparatus and its control system. The approach is based on the formation of a database of possible faults for each subsystem of the device and the device as a whole, the development of an algorithm for the ran-dom occurrence of faults of one of the types from the database of faults. An operator's workstation has been de-veloped with an interface for the fault setting program, which provides for the fault setting both by the operator and by the probabilistic program at random times. The interface allows you to visually display service information about the current consumption, energy consumption and heat generation of each of the subsystems, transfer this data to the software simulator of the power generation and distribution subsystem to assess the load of the power supply system and power sources. Protocols for setting simulation modes have been developed that do not affect the ex-change of information using standard protocols for information and technical interaction. The behavior of the ap-paratus in the event of malfunctions has been studied. The results of testing the developed fault simulation algo-rithms and protocols for setting simulation modes showed the correctness of the proposed approach; the results were implemented in the existing stand for modeling the functioning of the apparatus. The developed algorithms and protocols for setting simulation modes, their implementation in the form of software made it possible to carry out large-scale numerical experiments on the bench for simulating the operation of the apparatus to develop algo-rithms and programs not only in normal modes of their operation, but also in the event of malfunctions.