• 中国科技核心期刊
  • JST收录期刊
Volume 29 Issue 2
 
Turn off MathJax
Article Contents
Article Navigation >  Journal of Unmanned Undersea Systems  > 2021  >  29(2): 196-202
YIN Bao-ji, ZHOU Jia-hui, TANG Wen-xian, DONG Ya-peng. Denoising Method for the Pulse Width Modulation Signal and Current Signal in the Control System of Underwater Robot Thruster[J]. Journal of Unmanned Undersea Systems, 2021, 29(2): 196-202. doi: 10.11993/j.issn.2096-3920.2021.02.010
Citation: YIN Bao-ji, ZHOU Jia-hui, TANG Wen-xian, DONG Ya-peng. Denoising Method for the Pulse Width Modulation Signal and Current Signal in the Control System of Underwater Robot Thruster[J]. Journal of Unmanned Undersea Systems, 2021, 29(2): 196-202. doi: 10.11993/j.issn.2096-3920.2021.02.010
shu

Denoising Method for the Pulse Width Modulation Signal and Current Signal in the Control System of Underwater Robot Thruster

doi: 10.11993/j.issn.2096-3920.2021.02.010
  • 1.

    School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212003, China

  • 2.

    Jiangsu Provincial Key Laboratory of Advanced Manufacture and Process for Marine Mechanical Equipment, Jiangsu University of Science and Technology, Zhenjiang 212003, China

  • 3.

    Science and Technology on Underwater Vehicle Technology, Harbin Engineering University, Harbin 150001, China

  • Received Date: 2020-04-27
  • Rev Recd Date: 2020-07-02
  • Publish Date: 2021-04-30
    Abstract
  • With the aim of achieving thruster control and monitoring this control under operating conditions, a denoising method for the pulse width modulation(PWM) signal and current signal in the control system of underwater robot thruster is explored in this study. The ripple amplitude and duty cycle fluctuation of the PWM signal are large in a thruster control circuit based on typical series grounding. Therefore, to reduce the ripple amplitude and duty cycle fluctuation, a redundant grounding circuit is designed, in which an extra ground wire is added between the central processing unit(CPU) and the module converting analog voltage to PWM to avoid the interference of the ground signal of the power. However, the error between the denoised current data and the actual data has a large magnitude even after the current data is denoised using the wavelet decomposition method. Hence, to further denoise the current data, a coupling denoising method based on the cross coupling of wavelet decomposition and seven-point slip average is proposed. The water-tank experimental results obtained are as follows: The designed redundant grounding circuit has a smaller ripple amplitude and duty cycle fluctuation than those of the series grounding circuit. The proposed coupling denoising method has a smaller error between the denoised current data and the actual data when compared with that between the raw data and the denoised data as obtained via the wavelet decomposition. The effectiveness of the abovementioned methods is therefore verified by the experimental results.

     

    • FullText(HTML)
  • loading
    • References(18)
  • [1]
    黄琰, 李岩, 俞建成, 等. AUV智能化现状与发展趋势[J]. 机器人, 2020, 42(2): 215-231.

    Huang Yan, Li Yan, Yu Jian-cheng, et al. State-of-the-art and Development Trends of AUV Intelligence[J]. Robot, 2020, 42(2): 215-231.
    [2]
    Hao L Y, Zhang H, Yue W, et al. Fault-tolerant Compensation Control Based on Sliding Mode Technique of Unmanned Marine Vehicles Subject to Unknown Persistent Ocean Disturbances[J]. International Journal of Control, Automation and Systems, 2020, 18(3): 739-752.
    [3]
    Liu X, Zhang M J, Wang Y J, et al. Design and Experimental Validation of an Adaptive Sliding Mode Observer-based Fault-tolerant Control for Underwater Vehi-cles[J]. IEEE Transactions on Control Systems Technology, 2019, 27(6): 2655-2662.
    [4]
    He J Y, Li Y, Jiang Y Q, et al. Propeller Fault Diagnosis Based on a Rank Particle Filter for Autonomous Underwater Vehicles[J]. Brodogradnja, 2018, 69(2): 147-164.
    [5]
    Chan T K, Chin C S. Health Stages Diagnostics of Underwater Thruster Using Sound Features with Imbalanced Dataset[J]. Neural Computing & Applications, 2019, 31(10): 5767-5782.
    [6]
    Yao F, Wang F, Zhang M. Weak Thruster Fault Detection for Autonomous Underwater Vehicle Based on Artificial Immune and Signal Preprocessing[J]. Advances in Mechanical Engineering, 2018, 10(2): 538-550.
    [7]
    Abed W, Sharma S K, Sutton R, et al. An Unmanned Marine Vehicle Thruster Fault Diagnosis Scheme Based on OFNDA[J]. Journal of Marine Engineering and Technology, 2017, 16(1): 37-44.
    [8]
    程学龙, 朱大奇, 孙兵, 等. 深海载人潜水器推进器系统故障诊断的新型主元分析算法[J]. 控制理论与应用, 2018, 35(12): 1796-1804.

    Cheng Xue-long, Zhu Da-qi, Sun Bing, et al. Principal Component Analysis Algorithm for Fault Diagnosis of Thruster System in Deep-sea Human Occupied Vehicle[J]. Control Theory & Applications, 2018, 35(12): 1796-1804.
    [9]
    刘扬. 模块电源纹波电压的测量与有效抑制[J]. 计量与测试技术, 2018, 45(1): 52-53.

    Liu Yang. Measurment and Effective Suppress for Ripple Voltage of Module Power[J]. Metrology & Measurement Technique, 2018, 45(1): 52-53.
    [10]
    何德军, 石晓磊. 一种直流并联电源的输出纹波抑制技术研究[J]. 信息技术, 2019, 43(9): 101-105.

    He De-jun, Shi Xiao-lei. Research on Output Ripple Suppression Technology of DC Parallel Power Supply[J]. Information Technology, 2019, 43(9): 101-105.
    [11]
    张国荣, 桂红明, 彭勃, 等. 柔性多状态开关直流侧电压纹波的抑制策略[J]. 高电压技术, 2020, 46(4): 1133-1141.

    Zhang Guo-rong, Gui Hong-ming, Peng Bo, et al. DC Side Voltage Ripple Suppression Strategy on Flexible Multi-state Switch[J]. High Voltage Engineering, 2020, 46(4): 1133-1141.
    [12]
    张小翠, 徐小明. 一种基于变频器电流检测机床刀具磨损新方法的研究[J]. 机床与液压, 2019, 47(13): 213-218.

    Zhang Xiao-cui, Xu Xiao-ming. Research on New Method of Tool Wear for Machine Tool Based on Frequency Converter Current Detection[J]. Machine Tool & Hydraulics, 2019, 47(13): 213-218.
    [13]
    赵坤, 郑小霞. 基于改进EMD和小波阈值法的风机数据降噪研究[J]. 上海电力大学学报, 2020, 36(2): 136-140.

    Zhao Kun, Zheng Xiao-xia. Noise Reduction of Wind Turbine Data Based on Improved EMD and Wavelet Threshold[J]. Journal of Shanghai University of Electric Power, 2020, 36(2): 136-140.
    [14]
    朱圆圆, 易挺. 粒子滤波的焊接电流信号降噪方法研究[J]. 精密制造与自动化, 2018, 1(1): 4-6.

    Zhu Yuan-yuan, Yi Ting. Research on Noise Reduction of Welding Current Signal Based on Particle Filter[J]. Precise Manufacturing & Automation, 2018, 1(1): 4-6.
    [15]
    Liu H, Wang W, Xiang C, et al. A Denoising Method Using the Improved Wavelet Threshold Function Based on Noise Variance Estimation[J]. Mechanical Systems and Signal Processing, 2018, 99(15): 30-46.
    [16]
    Zhang M, Yin B, Liu W, et al. Thruster Fault Feature Ex-traction for Autonomous Underwater Vehicle in Time-varying Ocean Currents Based on Single-channel Blind Source Separation[J]. Proceedings of the Institution of Mechanical Engineers Part I: Journal of Systems and Control Engineering, 2016, 230(1): 46-57.
    [17]
    殷宝吉, 董亚鹏, 唐文献, 等. 船舶螺旋桨水下清洗机器人推进器驱动及关键部件状态监测研究[J]. 江苏科技大学学报(自然科学版), 2019, 33(4): 31-37.

    Yin Bao-ji, Dong Ya-peng, Tang Wen-xian, et al. Research on Thruster Driving and Key Parts Condition Monitoring for Ship Propeller Underwater Cleaning Vehicle[J]. Journal of Jiangsu University of Science and Technology(Natural Science Edition), 2019, 33(4): 31-37.
    [18]
    申中杰, 陈雪峰, 何正嘉, 等. 基于相对特征和多变量支持向量机的滚动轴承剩余寿命预测[J]. 机械工程学报, 2013, 49(2): 183-189.

    Shen Zhong-jie, Chen Xue-feng, He Zheng-jia, et al. Remaining Life Predictions of Rolling Bearing Based on Relative Features and Multivariable Support Vector Machine[J]. Journal of Mechanical Engineering, 2013, 49(2): 183-189.
    • Relative Articles
    • Supplements(0)
    • Cited By
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF
    XML

    Article Metrics

    Article Views(183) PDF Downloads(175) Cited by()
    Proportional views
    Related
    Service
    Subscribe
    Copyright：陕ICP备09015163号Address:No. 96, Jinye Road, Xi'an, Shaanxi
    Code：710077Tel: 029-88327279QQ: 767358370
    Email: bianjibu705@sohu.com 767358370@qq.com
    Email Alert RSS
    Taobao
    Micro

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return