多UUV运动控制系统故障协同诊断与容错协同控制研究

Cooperative operation of Multi-UUV (Unmanned underwater vehicle) systems is a powerful measure to accomplish the multi-tasking marine missions in large sea areas and unknown sea states while exploiting the ocean resources and defending the oceanic entitlements. The faults on the UUV motion control system would either hinder the UUV’s movement, or disturb the tasks in progress of the cooperative UUVs. Based on using the identification, estimation, cooperation, and fault tree tools synthetically while the Multi-UUV systems encounter the disturbances from ocean currents, limited communication, and uncertainties etc., this project constructs the fault cooperative diagnosis and fault-tolerant cooperative control methods system against the motion control system faults through proposing the fault cooperative detection method that contains cooperative behavior evaluation and dynamic fault threshold designing, the fault localization and identification methods which focus on the faults of faulty position/attitude sensors and motion actuators, and the passive and the active fault-tolerant cooperative control methods on the basis of the integral backstepping control and the fault behavior describing. The numerical simulation and experimental pool/reservoir will be adopted to carry out the simulation and test verifications for the proposed algorithms. By means of this project, the security problem for the cooperative operation of the Multi-UUV systems will be solved in terms of theory and practice, which would provide theory and technology supports for the safely marine activities of the Multi-UUV systems.

多无人水下航行器(UUV)系统协同作业是人类开发利用海洋资源与维护海洋权益时，完成大海域、多任务以及海况未知使命的有力举措。而UUV运动控制系统故障在妨碍UUV自身作业的同时，还将干扰协同UUV使命的执行。本项目面向受洋流、通讯限制与模型不确定因素等干扰的多UUV系统，综合应用辨识、估计、协同以及故障树等工具，提出涵盖UUV协同行为评估和故障阈值动态设计的故障协同检测、面向UUV位姿传感器和运动执行器的故障定位与辨识、以及基于积分反推和故障行为描述的被动与主动容错协同控制等方法，构建针对运动控制系统故障的多UUV故障协同诊断与容错协同控制方法体系，并采用数值仿真和水池/水库实验平台对算法进行仿真和试验验证。通过本项目，从理论与实践两方面解决多UUV系统协同作业的安全保障问题，为多UUV系统海洋安全作业提供理论与技术支撑。

多无人水下航行器（UUV：Unmanned Underwater Vehicle）协同作业是开发利用海洋资源的有力举措，而UUV运动控制系统故障既妨碍自身使命的完成，也干扰协同UUV对使命的执行。本项目研究按计划执行，开展了多UUV故障协同诊断与容错协同控制理论研究工作。具体研究工作包括四个方面：第一，针对协同作业队伍中UUV的故障问题，研究多UUV故障协同检测问题；第二，面向UUV位姿传感器和运动执行器，研究故障定位与辨识问题；第三，面向协同任务需求，研究被动与主动容错协同控制问题；第四，开展仿真与平台实验应用研究。基于上述研究工作，本项目建立了多UUV的协同动力学模型并设计了故障协同检测算法；针对框式和雷形UUV，提出了位姿传感器和运动执行器故障定位与辨识算法，有效解决故障引入多自由度混淆影响的问题；提出了UUV多自由度协调主动容错控制算法，有效解决故障影响随执行器运动而发生未知改变和故障引入多自由度影响的问题；设计了不确定性和干扰影响下的补偿式多UUV容错协同控制算法，实现多UUV的被动与主动容错协同控制；搭建了多UUV仿真与多无人船试验平台，开展了实验验证研究。