基于模型的设计在无人潜器安全系统上的应用

为了保障水下无人潜器的安全,降低潜器工作时损坏或丢失的风险,水下无人潜器上都会配备安全系统。它可以在潜器遭遇险情时,如设备故障、舱室浸水等,准确定位故障,评估危险形势并决策应急措施,帮助水下无人潜器实现自救。故障诊断专家系统是一种基于知识的故障诊断方法,十分适用于知识不完整的复杂系统设计。但由于水下无人潜器的工作环境十分复杂,故障类型十分多样且是实时变化的,传统的故障诊断专家系统因需要花费较长的响应时间,可能无法满足安全系统的响应时间要求。为此,将有限状态机技术应用到诊断专家系统中,以提高诊断专家系统的响应速度,同时使系统变得更加灵活,功能拓展更为方便。此外,应用基于模型的设计方法,在stateflow中建立安全系统的模型,进行模型验证工作,借助PLC Coder工具生成目标控制器的代码完成算法部署工作。

APPLICATION OF MODEL-BASED DESIGN IN SAFETY SYSTEM OF UNMANNED UNDERWATER VEHICLE

In order to ensure the safety of the unmanned underwater vehicle (UUV) and reduce the risk of damage or loss, UUV is equipped with safety system. It can accurately locate faults, assess dangerous situations and make emergency decisions when the UUV encounters dangerous situations, such as equipment failure, cabin immersion, etc. It can help the UUV to achieve self-rescue. Fault diagnosis expert system is a knowledge-based fault diagnosis method, which is very suitable for the design of complex systems with incomplete knowledge. However, due to the complexity of the working environment and the variety of fault types, the traditional fault diagnosis expert system may not be able to meet the response time requirements of the safety system. Therefore, we applied finite state machine to diagnostic expert system to improve the response speed, and made the system more flexible and more convenient to expand its functions. In addition, we applied the model-based design to build the model of security system in stateflow, and made the model verification. With the help of PLC Coder tool, the code of the target controller was generated and the algorithm deployment was completed.