Active Fault Localization of Actuators on Torpedo-Shaped Autonomous Underwater Vehicles
1
State Key Laboratory of Mechanical Transmission, College of Mechanical Engineering, Chongqing University, Chongqing 400044, China
2
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China
*
Author to whom correspondence should be addressed.
Sensors 2021, 21(2), 476; https://doi.org/10.3390/s21020476
Received: 23 November 2020
/
Revised: 7 January 2021
/
Accepted: 8 January 2021
/
Published: 11 January 2021
(This article belongs to the Section Fault Diagnosis & Sensors)
To ensure the mission implementation of Autonomous Underwater Vehicles (AUVs), faults occurring on actuators should be detected and located promptly; therefore, reliable control strategies and inputs can be effectively provided. In this paper, faults occurring on the propulsion and attitude control systems of a torpedo-shaped AUV are analyzed and located while fault features may induce confusions for conventional fault localization (FL). Selective features of defined fault parameters are assorted as necessary conditions against different faulty actuators and synthesized in a fault tree subsequently to state the sufficiency towards possible abnormal parts. By matching fault features with those of estimated fault parameters, suspected faulty sections are located. Thereafter, active FL strategies that analyze the related fault parameters after executing purposive actuator control are proposed to provide precise fault location. Moreover, the generality of the proposed methods is analyzed to support extensive implementations. Simulations based on finite element analysis against a torpedo-shaped AUV with actuator faults are carried out to illustrate the effectiveness of the proposed methods.
View Full-Text
Keywords:
autonomous underwater vehicle (AUV); actuator fault; fault diagnosis (FD); fault localization (FL); feature analysis
▼
Show Figures
Figure 1
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited
MDPI and ACS Style
Liu, F.; Long, Y.; Luo, J.; Pu, H.; Duan, C.; Zhong, S. Active Fault Localization of Actuators on Torpedo-Shaped Autonomous Underwater Vehicles. Sensors 2021, 21, 476. https://doi.org/10.3390/s21020476
AMA Style
Liu F, Long Y, Luo J, Pu H, Duan C, Zhong S. Active Fault Localization of Actuators on Torpedo-Shaped Autonomous Underwater Vehicles. Sensors. 2021; 21(2):476. https://doi.org/10.3390/s21020476
Chicago/Turabian StyleLiu, Fuqiang, Yan Long, Jun Luo, Huayan Pu, Chaoqun Duan, and Songyi Zhong. 2021. "Active Fault Localization of Actuators on Torpedo-Shaped Autonomous Underwater Vehicles" Sensors 21, no. 2: 476. https://doi.org/10.3390/s21020476
Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.
