Actuator Weak Fault Diagnosis in Autonomous Underwater Vehicle Based on Tri-Stable Stochastic Resonance

Yang, Jianzhong; He, Bo; Guo, Jia; Lv, Pengfei; Mu, Xiaokai; Zhang, Xin; Yu, F. Richard

doi:10.3390/app10062048

Cited by 9 publications

(4 citation statements)

References 28 publications

(41 reference statements)

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“…When the current velocity is 1 m/s, the power of the profile AUV is greater than the friction force f on the Kevlar cable, so the profile AUV will advance at a low speed, which can also meet the profile data acquisition frequency of an offshore survey. Here, the propeller thrust is 14 N, and the corresponding propeller power is 40 W. Due to the use of a ducted propeller, the thrust is generally increased by approximately 20% [ 27 ]; that is, the power F of the profile AUV can be maintained at 18.2 N to ensure that the profile AUV can move at a speed of 0~1 m/s when the current velocity is lower than 1 m/s. Since the current velocity on the ocean surface is usually larger than that at the bottom of the ocean, to ensure that the profile AUV can initially move smoothly, the profile AUV is considered to be in a microgravity state in the water, and it stops at the limit close to the seabed when there is no power.…”

Section: System Descriptionmentioning

confidence: 99%

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Profile Autonomous Underwater Vehicle System for Offshore Surveys

Jiang

Yang

et al. 2023

Sensors

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Offshore marine engineering, offshore aquaculture, and offshore environmental protection require periodic offshore surveys. At present, the main means of offshore marine surveys are mooring buoys and marine survey ships. Anchored buoys are fixed in place for a long time, which affects the navigation of ships. Therefore, mooring buoys cannot be deployed over a large area with high density. The cost of marine survey ships is high, especially when multipoint synchronous marine surveys are needed, and marine survey ships cannot perform offshore surveys under bad sea conditions. A profile autonomous underwater vehicle system is developed to meet the requirements of multipoint short-term synchronous offshore surveys. It is a small, reusable, low-cost equipment designed to move up and down at a mooring position while measuring temperature, salinity, depth, and other quantities along a vertical water section. Profile autonomous underwater vehicles can be commanded remotely and report their measurements in near real-time via wireless telemetry. The time it takes for a profile AUV to move up and down can indicate the current velocity. Tests were carried out on a wharf and in offshore areas, and the results were satisfactory.

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Section: System Descriptionmentioning

confidence: 99%

“…The REMUS 100 emerged in the early stage of the Gulf War and participated in the United States combat mission in Iraq [ 25 ]. China’s sailfish underwater vehicle, shown in Figure 2 , has basically completed the initial design objectives and met the expected functional requirements [ 27 ].…”

Section: Introductionmentioning

confidence: 99%

Profile Autonomous Underwater Vehicle System for Offshore Surveys

Jiang

Yang

et al. 2023

Sensors

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“…For many domains, SR can be used and has good performance [ 2 , 3 , 4 , 5 , 6 , 7 , 8 ]. In the aspect of feature extraction and signal enhancement of mechanical signals, SR is used more and more because it is different from other denoising methods [ 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 ]. Han et al used colored noise to drive SR, studied the mean first-passage time of the system at this time, and discussed its relationship with the parameters [ 17 ].…”

Section: Introductionmentioning

confidence: 99%

A Novel Piecewise Tri-Stable Stochastic Resonance System Driven by Dichotomous Noise

Zhao

Shi

2023

Sensors

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Stochastic resonance (SR) has been widely studied as a means of signal processing since its conception. Since SR is different from other denoising methods in nature, it can be used for not only feature extraction but also signal enhancement. Additive white Gaussian noise (AWGN) is often used as a driving source in SR research due to its convenience in numerical simulation and uniform distribution, but as a special noise, it is of great significance to study the SR principle of dichotomous noise as a driving source for nonlinear dynamics. In this paper, the method of piecewise tri-stable SR (PTSR) driven by dichotomous noise is studied, and it is verified that signal enhancement can still be achieved in the PTSR system. At the same time, the influence of the parameters of the PTSR system, periodic signal, and dichotomous noise on the mean of signal-to-noise ratio gain (SNR-GM) is analyzed. Finally, dichotomous noise and AWGN are used as the driving sources of the PTSR system, and the signal enhancement ability and noise resistance ability of the two drivers are compared.

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“…The control of stochastic systems has become a vibrant research area recently, and numerous theoretical and applied works have been published [21][22][23][24]. Despite all these research achievements, however, there are few research results on the problem of ship control systems with stochastic noise at present [25][26][27], and these results ignore the switching mechanism in the analysis and control design. The switching control problem under different wind levels and water velocities needs to be considered.…”

Section: Introductionmentioning

confidence: 99%

TD-Based Adaptive Output Feedback Control of Ship Heading with Stochastic Noise and Unknown Actuator Dead-Zone Input

et al. 2022

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To meet the demand of ship control, a new heading control tactic is explored using switching theory. Different from the previous results, the stochastic noise and switched control are considered in the Norrbin nonlinear mathematical model concurrently to discuss ship heading control. Then, for the resulting systems, the adaptive control issue is addressed, while the dead-zone input is embedded and unknown. By establishing switched state observers for the corresponding subsystems, the conservatism of the common state observer can be reduced greatly, and the analysis can be achieved under the switching signal satisfying the average dwell time (ADT). The “explosion of terms” problem occurring in the backstepping technique is well remedied via an innovative tracking differentiator (TD) technology, which is an innovation in itself. According to the theory proof, under the developed control tactic, the resulting signals are then to be bounded in probability, with the tracking goal being achieved well. The theoretical design result was analyzed, and the corresponding validity is given through simulation experiments.

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Actuator Weak Fault Diagnosis in Autonomous Underwater Vehicle Based on Tri-Stable Stochastic Resonance

Cited by 9 publications

References 28 publications

Profile Autonomous Underwater Vehicle System for Offshore Surveys

Profile Autonomous Underwater Vehicle System for Offshore Surveys

A Novel Piecewise Tri-Stable Stochastic Resonance System Driven by Dichotomous Noise

TD-Based Adaptive Output Feedback Control of Ship Heading with Stochastic Noise and Unknown Actuator Dead-Zone Input

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