SIA OpenIR  > 水下机器人研究室
基于UKF的水下机器人执行器故障检测方法研究
Alternative TitleResearch on actuator fault detection of unmanned underwater vehicle based on unscented kalman filter
林昌龙; 封锡盛; 李一平
Department水下机器人研究室
Source Publication机械设计与制造
ISSN1001-3997
2011
Issue5Pages:168-170
Contribution Rank1
Funding Organization国家自然科学基金(60775061); 国家基础研究项目(6138102005-4,6138101004-3)
Keyword故障检测 水下机器人 无色卡尔曼滤波器 执行器 传感器 方法研究 推进器 使命 动力学模型 无人干预
Abstract水下机器人需要在无人干预或者少量干预的情况下自主地完成使命,这就要求它在作业过程中能够自主地检测子系统、传感器和执行器的故障。在确认发生故障的时候,它还需要尽最大可能地进行修复,以确保使命的顺利进行。水下机器人常用的执行器包括推进器、舵、机械手等,针对推进器的故障检测问题,首先建立了水下机器人的运动学和动力学模型,然后采用UKF对系统的状态和参数进行联合估计,最后通过外场试验验证了算法的有效性和正确性。
Other AbstractUnmanned underwater vehicle needs to complete the mission with little or even without human intervention.Thus,it should be able to detect the faults of its subsystems,sensors,and actuators during the mission.Furthermore,when identifying any fault,it should try to fix the problem to resume the mission.Generally,the actuators for unmanned underwater vehicles consist of thrusters,rudders,manipulators and so on.Concerning the problem of actuator faults detecting,the kinematical and kinetic models of an unmanned...
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7432
Collection水下机器人研究室
Corresponding Author林昌龙
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院研究生院
Recommended Citation
GB/T 7714
林昌龙,封锡盛,李一平. 基于UKF的水下机器人执行器故障检测方法研究[J]. 机械设计与制造,2011(5):168-170.
APA 林昌龙,封锡盛,&李一平.(2011).基于UKF的水下机器人执行器故障检测方法研究.机械设计与制造(5),168-170.
MLA 林昌龙,et al."基于UKF的水下机器人执行器故障检测方法研究".机械设计与制造 .5(2011):168-170.
Files in This Item:
File Name/Size DocType Version Access License
ZWQK000811.pdf(286KB) 开放获取LicenseView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[林昌龙]'s Articles
[封锡盛]'s Articles
[李一平]'s Articles
Baidu academic
Similar articles in Baidu academic
[林昌龙]'s Articles
[封锡盛]'s Articles
[李一平]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[林昌龙]'s Articles
[封锡盛]'s Articles
[李一平]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: ZWQK000811.pdf
Format: Adobe PDF
This file does not support browsing at this time
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.