Research on Fault Diagnosis Method of Tunnel Inspection Robot Based on T−S Fuzzy FTA

Abstract

Aiming at the intelligent fault diagnosis of tunnel inspection robot, the T-S fuzzy fault tree method was proposed to build the intelligent diagnosis system. Taking positioning system of the robot as an example, the T-S fuzzy FTA model of the system was established. And the T-S importance of each component and fault checking sequence were calculated using the T-S fuzzy gate rule. The example analysis results show that, the method improves the accuracy and practicability of fault diagnosis of the robot system.