无人水下机器人传感器故障检测仪研制

摘要

针对OUTLAND1000无人水下机器人,采用自适应滤波器FIR对水下机器人进行在线自适应建模,并利用LMS(least mean square)算法来调节滤波器的权系数,通过对滤波器权系数的分析,实时检测水下机器人传感器的故障,以TMS320F2812芯片为核心设计水下机器人传感器故障检测仪,通过自行设计的键盘,发出数据采集和控制命令,传感器数据通过RS485传送到控制转换器,再利用RS232串口通信传送到检测仪,通过数据分析显示数据参数和诊断结果.%Adaptive finite impulse response filter is used to structure on-line adaptive modeling for the OUTLAND1000 Unmanned underwater vehicles. The least mean square algorithm is adopted to adjust the filter weights. By analysing the weights of filter, the failure of the sensors of underwater vehicles can be detected real-timely. The TMS320F2812 chip is used to design the fault detecting instrument for sensors fault of underwater vehicles. The command of data acquisition and control the underwater vehicle can be sent by the self-designed keyboard. The data of sensors are transmitted to transfer controller using RS-485 serial communication, then transmitted to the fault detecting instrument by the way of RS232, The important parameters and detect results are displayed in the LCD.