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A Fault-tolerant Steering Prototype for X-rudder Underwater Vehicles

机译：X舵水下航行器的容错转向原型

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摘要

The X-rudder concept has been applied to more and more autonomous underwater vehicles (AUVs) in recent years, since it shows better maneuverability and robustness against rudder failure compared to the traditional cruciform rudder. Aiming at the fault-tolerant control of the X-rudder AUV (hereinafter abbreviated as xAUV), a fault-tolerant steering prototype system which can realize dynamics control, autonomous rudder fault detection and fault-tolerant control is presented in this paper. The steering prototype system is deployed on a verification platform, an xAUV, in which the monitor software is developed based on the factory method and the onboard software is developed based on the finite state machine (FSM). Dual-loop increment feedback control (DIFC) is first introduced to obtain smooth virtual rudder commands considering actuator’s limitations. Then the virtual rudder commands are transformed into X-rudder commands based on the mapping theory. In rudder fault diagnosis, an optimized particle filter is proposed for estimating rudder effect deduction, with proposal distribution derived from unscented Kalman filter (UKF). Then the fault type can be determined by analyzing indicators related to the deduction. Fault-tolerant control is addressed by dealing with nonlinear programming (NLP) problem, where minimization of allocation errors and control efforts are set as the optimization objectives, and rudder failure, saturation and actuators limitations are considered as constraints. The fixed-point iteration method is utilized to solve this optimization problem. Many field tests have been conducted in towing tank. The experimental results demonstrate that the proposed steering prototype system is able to detect rudder faults and is robust against rudder failure.
机译：由于与传统的十字形方向舵相比，X方向舵概念显示出更好的机动性和抵抗方向舵失效的鲁棒性，因此近年来已应用于越来越多的自动水下航行器（AUV）。针对X方向舵AUV的容错控制，提出了一种可以实现动力学控制，自主方向舵故障检测和容错控制的容错转向样机系统。转向原型系统部署在xAUV验证平台上，该平台基于工厂方法开发监控软件，并基于有限状态机（FSM）开发车载软件。考虑到执行器的局限性，首先引入了双回路增量反馈控制（DIFC）以获取平滑的虚拟舵指令。然后根据映射理论将虚拟舵命令转换为X舵命令。在方向舵故障诊断中，提出了一种优化的粒子滤波算法来估计方向舵效应的推导，其提议分布来自无味卡尔曼滤波器（UKF）。然后可以通过分析与推论有关的指标来确定故障类型。容错控制是通过处理非线性编程（NLP）问题解决的，在该问题中，将分配误差的最小化和控制努力作为优化目标，而方向舵故障，饱和度和执行器限制被视为约束条件。利用定点迭代法来解决此优化问题。在牵引罐中进行了许多现场测试。实验结果表明，所提出的转向样机系统能够检测方向舵故障，并且对方向舵失效具有鲁棒性。

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