基于冗余管理的水下航行器深度容错控制方法

随着海洋开发的日益增加,水下航行器的研究也进入了快速发展阶段,如何保证航行器在水下恶劣环境中可靠工作成为急待解决的问题,尤其对于超远航程和超长航时的航行器,其航行过程中难免会发生意外错误,因此在保证性能的同时,如何提高水下航行器的容错能力成为近年来研究的一个热点问题.提出了一种基于冗余管理(Redundancy Management)理论的水下航行器容错控制方案,方案有效利用了航行器中各传感器的冗余性,减少了硬件设备的增加,降低了成本,并利用有限元状态机方法进行了Matlab程序仿真,结果表明,整个方案设计合理,容错控制律真正达到了"容错控制"的目的.

A Method of Fault Depth Control for AUV based on Redundancy Management

With the exploitation of ocean,the development of autonomous underwater vehicle(AUV) is now enter in a rapid phase.As the task becomes more complex, the requirement of AUV is more and more rigorous.Especially long distance and long time-ship AUVs are more and more important.How to ensure them work well is a problem we meet first.So the fault control method is now a hotspot.A method of fault depth control for AUV based on redundancy management is present.The method doesn't need add new sensor and reduce the ...