The invention discloses an underwater propeller fault diagnosis method and an underwater propeller fault diagnosis system based on prediction beat dynamic adjustment. The underwater propeller fault diagnosis method comprises the following steps: collecting a dynamic signal of an underwater robot; establishing a grey prediction model; acquiring a time sequence of the dynamic signal at the current moment, and performing grey prediction on the time sequence to obtain a prediction track; fault features are extracted from the prediction trajectory based on a modified Bayesian algorithm, and a fault feature prediction sequence is obtained; selecting a characteristic value of a prediction beat based on slope change of the fault characteristic prediction sequence from the fault characteristic prediction sequence as a fault characteristic value at the current moment; and substituting the selected fault characteristic value into a fault identification model, and carrying out underwater propeller fault identification to obtain the fault degree of the underwater propeller at the current moment. By dynamically adjusting the prediction rhythm during fault diagnosis of the propeller, the fault identification precision can be improved, and the mean absolute error, the mean relative error and the root-mean-square error between the identification result and the real fault degree are reduced.
本发明公开了一种基于预测节拍动态调整的水下推进器故障诊断方法及诊断系统的水下推进器故障诊断方法,采集水下机器人的动态信号;建立灰色预测模型;获取当前时刻动态信号的时间序列,对时间序列进行灰色预测,得到预测轨迹;基于修正贝叶斯算法从预测轨迹中提取故障特征,得到故障特征预测序列;从故障特征预测序列选取一个基于故障特征预测序列的斜率变化的预测节拍的特征值,作为当前时刻的故障特征值;将选取的故障特征值带入到故障辨识模型,进行水下推进器故障辨识,得到水下推进器当前时刻的故障程度。通过在进行推进器故障诊断时动态调整预测节拍,能够提高故障辨识精度,减小辨识结果与真实故障程度之间的平均绝对误差、平均相对误差、均方根误差。
Underwater propeller fault diagnosis method and system based on prediction beat dynamic adjustment
基于预测节拍动态调整的水下推进器故障诊断方法及诊断系统
2023-06-27
Patent
Elektronische Ressource
Chinesisch
Underwater propeller fault classification calculation method
Europäisches Patentamt | 2021
|Autonomous underwater robot propeller fault feature extraction method
Europäisches Patentamt | 2020
|Water segregator for underwater propeller and underwater propeller
Europäisches Patentamt | 2023
|