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22 H. AKYILDIZ ve E. TÜRKMEN

Table 2. FMEA Application of ASV

Failure Mode Effects of Failure SEV Causes of Failure OCC Process Controls DET RPN Recommended Solution(s)
Reinforced control 3
Low shaft speed Maneuvering risk, high energy 8 Jammed materials to 4 system and motor 2 If energy consumption high
consumption, operation cancel thruster controller against 2 96 from definite value, ASV
2
probable faults should go back to port.
Protection to thruster 2
Maneuvering risk, high energy Control Unit works wrong 1 If control unit or motor
consumption, operation cancel, 7 Motor controller works 4 against jammed
High shaft speed materials 56 controller continue works
collision risk wrong wrong, ASV Should go back
Reinforced control
system and motor to port.
controller against
Wrong data collection, If control unit or motor
wrong data reading, probable faults
Further on estimated Maneuvering risk, high energy 5 4 Reinforced control controller continue works
motor controller works system and motor 40 wrong, ASV Should go back
location consumption, operation cancel wrong controller against

probable faults to port.

Behind of estimated Maneuvering risk, high energy Wrong data collection, 4 Reinforced control If control unit or motor
location consumption, operation cancel, wrong data reading, system and motor controller continue works
controller against 40 wrong, ASV Should go back
collision risk 5 motor controller works
wrong, defect on thruster probable faults to port.

High energy consumption Maneuvering risk, high energy 7 Jammed materials to 4 Reinforced control If energy consumption high
considering estimated consumption, operation cancel thruster, external forces system and motor 56 from definite value, ASV
energy controller against
have high values should go back to port.
probable faults
Low energy consumption Maneuvering risk, operation 8 Battery defets 6 Protection to thruster 48 ASV should go back
considering estimated cancel, collision risk immediately at low speeds
energy against jammed
materials

Regularly battery
voltage control

References

[1] Akyıldız H, Üstün Ö. (2015). Fault-tolerant control of the electric propulsion system for a
boat, İstanbul.

[2] Dailly, C. (1990). Fault monitoring and diagnosis. Computing and Control Engineering
Journal, 1(2), 57–62.

[3] Frank, M, P. & Blanke, M., Fault diagnosis and fault tolerant control. CONTROL
SYSTEMS, ROBOTICS AND AUTOMATION – Vol. XVI

[4] Liu, Q., & Zhu, D., Fault tolerant control of unmanned underwater vehicles with
continuous faults : Simulations and experiments. International Journal of Advanced
Robotic Systems, Vol. 6, No.4 (2009)

GiDB|DERGi Sayı 5, 2016