Actuator Fault Diagnosis in Autonomous Underwater Vehicle Based on Principal Component Analysis

In order to improve the overall reliability of the Autonomous Underwater Vehicle (AUV), and actuator play an important role in AUV systems. Therefore, research on actuator fault diagnosis was carried out. The objective of this paper is to address the problem of Fault Diagnosis of the AUV actuator under winding faults. The goal is pursued through Finite Impulse Response (FIR) and Principal Component Analysis (PCA). The results showed that the PCA could be applied to the actuator fault diagnosis of AUV, and solved the problem of determining the fault source.