深海载人潜水器故障容错控制与安全自救系统

The underwater environment is very complicated, and HOV (Human occupied vehicle) is a strongly coupled system with nonlinearity and uncertainty, so fault-tolerant control and self-rescue system for HOV are becoming more and more challenging. In this project fault diagnosis, fault-tolerant control and self-rescue system of HOV are studied for the position subsystem, the life-support subsystem, the electrical power supply subsystem, the thruster & actuator subsystem and the underwater acoustic communication subsystem. Firstly, fault detection and isolation are realized by using the multi-PCA (principal component analysis) model, fault degree and time-vary characteristics are identified by using the multi-sensor information fusion technology. On the basis of fault identification the fault-tolerant control law is reconfigurated by the quantum-behaved particle swarm optimization algorithm, and the static fault-tolerant control of HOV is realized. Then the bio-inspired neurdynamics model and the sliding mode control algorithm are integrated, the dynamic tracking fault-tolerant control of HOV is realized accurately. The speed jump problem of tracking control is resolved, and the thruster control constraint of HOV is guaranteed. Finally the proposed theory is tested by the experiment system of "Jiao long" HOV simulator, and it is applied further to "Jiao long" HOV and whole ocean depth HOV system being made.

深海环境的复杂性，载人潜水器自身的强耦合、非线性及模型不确定特性，使得深海载人潜水器故障容错控制与安全自救技术成为一个十分具有挑战性的研究领域。本项目以载人潜水器的位姿系统、生命支持系统、电气与电源系统、推进与执行系统、水声通信系统等关键设备为对象，研究载人潜水器故障诊断与容错控制及安全自救技术。首先，应用新型多主元分析模型进行载人潜水器各个子系统的故障检测与定位，再应用多传感器信息融合技术辨识故障大小与时变特性，在故障辨识基础上应用约束量子粒子群优化策略重构载人潜水器控制律，实现载人潜水器静态容错控制；利用生物启发神经动力学模型与滑模容错控制器集成，实现载人潜水器动态轨迹跟踪容错控制，克服载人潜水器跟踪速度跳变，满足潜水器推进器最大推力约束；最后，以“蛟龙号”半实物操纵模拟器仿真平台为主体构造实验系统，结合"蛟龙号"应用和全海深载人潜水器研发，实现深海载人潜水器容错控制与自救系统的应用。

项目以载人潜水器的位姿系统、生命支持系统、电气与电源系统、推进与执行系统、水声通信系统等关键设备为对象，研究载人潜水器故障诊断与容错控制及安全自救技术。首先，应用新型多主元分析模型进行载人潜水器各个子系统的故障检测与定位，再应用多传感器信息融合技术辨识故障大小与时变特性，在故障辨识基础上应用约束量子粒子群优化策略重构载人潜水器控制律，实现载人潜水器静态容错控制；利用生物启发神经动力学模型与滑模容错控制器集成，实现载人潜水器动态轨迹跟踪容错控制，克服载人潜水器跟踪速度跳变，满足潜水器推进器最大推力约束；最后，以“蛟龙号”半实物操纵模拟器仿真平台为主体构造实验系统，结合"蛟龙号"应用数据，验证了深海载人潜水器故障诊断与容错控制方法的有效性。