350 rub
Journal Information-measuring and Control Systems №7 for 2015 г.
Article in number:
The synthesis method of diagnosing and accommodation to faults systems for navigation sensors of autonomous underwater vehicles
Keywords: faults diagnosis accommodation to faults auto-nomous underwater vehicle navigation sensors
Authors:
V.F. Filaretov - Dr.Sc. (Eng.), Head of Laboratory of Robotic Systems, Institute of Automation and Control Processes FED RAS; Head of Department of Automation and Control, Far Eastern Federal University (Vladivostok). E-mail: filaretov@inbox.ru A.N. Zhirabok - Dr.Sc. (Eng.), Professor, Head of Department of Automation and Control, Far Eastern Federal University (Vladivostok) A.V. Zuev - Ph.D.(Eng.), Junior Research Scientist, Institute of Automation and Control Processes FED RAS. E-mail: zuev@dvo.ru A.A. Protsenko - Post-graduate Student, Far Eastern Federal University (Vladivostok). E-mail: pro293133@gmail.com
Abstract:
This paper describes synthesis method of diagnostic systems and systems of accommodation to faults in navigation sensors systems for autonomous underwater vehicles (AUV). This method is based on using of diagnostic observers, which are synthesized with using of dynamic model of AUV. For compensation of detected faults, it is proposed to enter the feedback on residuals in each synthesized ob-server. The advantage of offered method is the ability to identify and compensate of faults in several sensors of AUV, but in this case, it is necessary to know the exact parameters of models of AUV. The problem was solved thanks to the synthesized diagnostic monitors feedback signal discrepancy. The results of mathematical simulation confirm the effectiveness of the proposed method.
Pages: 32-40
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