Approach to the study of AUV control algorithms in the event of faults in its equipment

Approach to the study of AUV control algorithms in the event of faults in its equipment

Lyubov A. Martynova
Doctor of Technical Sciences, Senior Research Scientist, Leading Research Scientist, JSC Concern Central Research Institute Elektropribor, 30, Malaya Posadskaya ul., Saint Petersburg, 197046, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000 0002 5613 0838

Ivan V. Pashkevich
JSC Concern Central Research Institute Elektropribor, Chief Specialist in the Development of Hydroacoustics, 30, Malaya Posadskaya ul., Saint Petersburg, 197046, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000 0002 6706 5592

Georgy A. Podshivalov
JSC Concern Central Research Institute Elektropribor, Software Engineer, 30, Malaya Posadskaya ul., Saint Petersburg, 197046, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Gennady V. Konyukhov
PhD in Technical Sciences, JSC Concern Central Research Institute Elektropribor, Head of the Group, 30, Malaya Posadskaya ul., Saint Petersburg, 197046, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0003-2415-9713

Nikolai I. Gorbachev
JSC Concern Central Research Institute Elektropribor, Software Engineer, 30, Malaya Posadskaya ul., Saint Petersburg, 197046, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-1771-4152

Tatyana A. Grinenkova
JSC Concern Central Research Institute Elektropribor, Engineer, 30, Malaya Posadskaya ul., Saint Petersburg, 197046, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Alexander I. Starikov
JSC Concern Central Research Institute Elektropribor, Head of the Group, 30, Malaya Posadskaya ul., Saint Petersburg, 197046, Russia,  This email address is being protected from spambots. You need JavaScript enabled to view it.

Received April 16, 2023

Abstract
The stand for modeling the functioning of subsystems of an autonomous underwater vehicle and its control system is considered, the possibility of testing algorithms in the event of malfunctions in the equipment is analyzed - without interfering with the regular operation of algorithms placed in the form of programs on the standard hardware. An approach is proposed for conducting research related to the occurrence of malfunctions in the equipment of the subsystems of the apparatus and aimed at testing the operation of the algorithms for the functioning of the subsystems of the apparatus and its control system. The approach is based on the formation of a database of possible faults for each subsystem of the device and the device as a whole, the development of an algorithm for the random occurrence of faults of one of the types from the database of faults. An operator's workstation has been developed with an interface for the fault setting program, which provides for the fault setting both by the operator and by the probabilistic program at random times. The interface allows you to visually display service information about the current consumption, energy consumption and heat generation of each of the subsystems, transfer this data to the software simulator of the power generation and distribution subsystem to assess the load of the power supply system and power sources. Protocols for setting simulation modes have been developed that do not affect the exchange of information using standard protocols for information and technical interaction. The behavior of the apparatus in the event of malfunctions has been studied. The results of testing the developed fault simulation algorithms and protocols for setting simulation modes showed the correctness of the proposed approach; the results were implemented in the existing stand for modeling the functioning of the apparatus. The developed algorithms and protocols for setting simulation modes, their implementation in the form of software made it possible to carry out large-scale numerical experiments on the bench for simulating the operation of the apparatus to develop algorithms and programs not only in normal modes of their operation, but also in the event of malfunctions.

Key words
Autonomous underwater vehicle, fault, simulation bench, fault simulation, protocol of information and technical interaction, probabilistic approach.

Acknowledgements
The work was supported by the Russian Science Foundation, project No. 23-29-00803.

DOI
10.31776/RTCJ.11305

Bibliographic description
Martynova, L.A. et al. (2023). "Approach to the study of AUV control algorithms in the event of faults in its equipment". Robotics and Technical Cybernetics, vol. 11, no. 3, pp. 197-204, 10.31776/RTCJ.11305. (in Russian).

UDC identifier:
004.942+629.58

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