Fault detection of actuator faults in unmanned underwater vehicles |
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| Affiliation: | 1. Center for Intelligent Marine Vehicles, School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, PR China;2. School of Ocean Engineering, Guangdong Ocean University, Zhanjiang 524088, PR China;3. Department of Electrical Engineering, National Taiwan University of Science and Technology, Taiwan 10607, PR China;1. Dept. of Naval Architecture and Ocean Engineering, Graduate School of Engineering, Osaka University, 2-1, Yamadaoka, Suita, Osaka, 565-0871, Japan;2. Department of Mechanical Engineering and Manufacturing, Universidad de Sevilla, Camino de los descubrimientos s/n, 41092 Seville, Spain |
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| Abstract: | A fault-diagnostic system for unmanned underwater vehicles has been designed and tested in real operating conditions. Actuator faults have been considered, relying on approximate models of the vehicles’ dynamics. Fault detection and diagnosis is accomplished by evaluating any significant change in the behaviour of the vehicle. This task is performed by a bank of estimators: a filter is implemented for each actuator fault type, including the no-fault case. The estimators used are extended Kalman filters (EKF), due to the presence of nonlinearities in the dynamic models. Experimental results are reported, to demonstrate the effectiveness of the proposed approach. |
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