| Issue |
E3S Web Conf.
Volume 360, 2022
2022 8th International Symposium on Vehicle Emission Supervision and Environment Protection (VESEP2022)
|
|
|---|---|---|
| Article Number | 01048 | |
| Number of page(s) | 7 | |
| DOI | https://doi.org/10.1051/e3sconf/202236001048 | |
| Published online | 23 November 2022 | |
STF-based diagnosis of AUV thruster faults
Wuhan Institute of Shipbuilding Technology, Wuhan, 430050, China
* Corresponding author: 2061770742@qq.com
The diagnosis of thruster faults of autonomous underwater vehicles is studied in this paper. Based on the theory of strong tracking filter (STF), the AUV motion model and the thruster fault model are established. The STFs are designed for each thruster for the purpose of fault diagnosis. The AUV state and the fault deviation of the thruster are estimated online before the thruster faults are diagnosed based on residual analysis. The simulation experiments were conducted to verify the feasibility and effectiveness of the STF-based diagnosis of AUV thruster faults.
Key words: Autonomous underwater vehicle / Fault diagnosis / Strong track filter / Thruster
© The Authors, published by EDP Sciences, 2022
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0/).
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