摘要
为了提高水下机器人传感器系统的故障诊断能力,依据小波变换基本理论和线性平滑原理,在分析水下机器人传感器三种故障形式的基础上,提出了相应的故障诊断方法,并进行了信号奇异性分析,探讨了小波基选择的一般标准。通过对海上试验结果分析表明,可以通过高层小波变换来区分噪声信号和突变信号,很好地解决了定位声纳输出振荡的问题,验证了所提方法的有效性与可行性。
Research is undertaken to improve the fault diagnosis abilities of underwater robots＇ （URs） sensor system. According to the basic principles of wavelet transform and linear smoothing and based on the analysis of URs＇ three kinds of sensor failures, corresponding methods for fault diagnosis were put forward. Signal singularity analysis was conducted and the general standard of wavelet function selection was dis- cussed. The noise and jumping signals can be distinguished by high layer wavelet transform and the oscillation problem about the positioning sonar output can be dealt with based on the analysis of sea trials＇ resuits. The validity and feasibility of the methods presented can be verified by the sea trials＇ results.
出处
《电机与控制学报》
EI
CSCD
北大核心
2008年第2期202-205,212,共5页
Electric Machines and Control
