Failure diagnosis system, structure, failure diagnosis method, and fault diagnosis program

摘要

Problem to be solved: to provide a fault diagnosis system and a structure, a fault diagnosis method and a fault diagnosis program which can perform the fault diagnosis autonomously.Control quantity for the attitude of the airframe of the underwater vehicleA fault diagnostic system 40 applied to an underwater vehicle that is controlled by a plurality of rudders, more than the number of controlState quantities of underwater vehiclesBased on the steering value of one of the plurality of ruddersEstimation processing to estimate the steering angle which is an operation amount to other rudders.A presumption Part 41 corresponding to each rudderBased on each steering angle corresponding to each estimated rudderA decision unit 42 for determining a failure for each rudder is provided.Diagram