A novel thruster FDAS (Fault Diagnosis and Accommodation System) is introduced for open-frame underwater vehicles. Basically, the FDAS is a control allocator, but this primary function is enhanced with the ability of automatic thruster fault detection and accommodation. The proposed FDAS consists of two subsystems: a FDS (Fault Diagnosis Subsystem) and a FAS (Fault Accommodation Subsystem). The FDS uses fault detector units (FDUs), associated with each thruster, to monitor their state. Robust and reliable FDUs are based on integration of self-organizing maps and fuzzy logic clustering methods. These units are able to detect internal and external faulty states of thrusters. The FAS uses information provided by the FDS to accommodate faults and perform an appropriate control reallocation. A control energy cost function is used as the optimization criteria. The FAS uses weighted pseudo-inverse to find the solution of the control allocation problem, which minimize this criteria. Two approximations (truncation or scaling) can be used to ensure feasibility of the solution. The proposed FDS is evaluated with data obtained during test trials. The feasible region concept, related with the problem of thruster velocity saturation, is developed in order to provide geometrical interpretation of the control allocation problem. The proposed FDAS is implemented as a Matlab/Simulink model (ROV simulator), in order to evaluate its performance in different faulty situations.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Thruster fault diagnosis and accommodation for open-frame underwater vehicles


    Additional title:

    Düsenpropeller mit Fehlerdiagnose und Fehleranpassung für die Unterwasserfahrzeuge mit offenen Strukturen


    Contributors:

    Published in:

    Control Engineering Practice ; 12 , 12 ; 1575-1598


    Publication date :

    2004


    Size :

    24 Seiten, 21 Bilder, 6 Tabellen, 31 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Thruster fault accommodation and reconfiguration for underwater vehicles

    Omerdic, E. / Roberts, G. N. | British Library Conference Proceedings | 2003


    Research of the thruster fault diagnosis for open-frame underwater vehicles

    Wang, Yujia / Jin, Zhixian / Zhang, Mingjun | Tema Archive | 2006




    Thruster fault diagnosis method based on Gaussian particle filter for autonomous underwater vehicles

    Yu-shan Sun / Xiang-rui Ran / Yue-ming Li et al. | DOAJ | 2016

    Free access