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The motor control unit is the core device of the unmanned surface vehicle (USV) to realize the function of autonomous navigation, and ensuring its functional safety is the premise and foundation of system reliability. Firstly, Hazard and Operability (HAZOP) method [1] is used to identify the potential hazards, and fault tree analysis (FTA) is used to realize functional safety analysis for the possible failure of the motor control unit (MCU) of the Autonomous Navigation Domain Controller (ANDC) in USV. Secondly, a 3-layer monitoring strategy for MCU is proposed, and a fault diagnosis system was designed. Thirdly, to verify the proposed design, the quantitative risk analysis of the MCU with 3-layer monitoring strategy is introduced, which is based on FTA. The results show that the failure rate of the system reduced from 64.23*10−4 to 40.41*10–4 with the proposed 3-layer monitoring strategy in the case study. The result implies the potential of the proposed method for improving the safety of the USV.

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Functional Safety Monitoring Strategy for Motor Control Unit of Autonomous Navigation Domain Controller in Unmanned Surface Vehicle

  • 会议论文

  • 发表日期：

    2025年

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  • Ahui Xu,
  • Yamin Huang,
  • Yuanqiao Wen,
  • Jie Liu,
  • Lihang Song

摘要

The motor control unit is the core device of the unmanned surface vehicle (USV) to realize the function of autonomous navigation, and ensuring its functional safety is the premise and foundation of system reliability. Firstly, Hazard and Operability (HAZOP) method [1] is used to identify the potential hazards, and fault tree analysis (FTA) is used to realize functional safety analysis for the possible failure of the motor control unit (MCU) of the Autonomous Navigation Domain Controller (ANDC) in USV. Secondly, a 3-layer monitoring strategy for MCU is proposed, and a fault diagnosis system was designed. Thirdly, to verify the proposed design, the quantitative risk analysis of the MCU with 3-layer monitoring strategy is introduced, which is based on FTA. The results show that the failure rate of the system reduced from 64.23*10−4 to 40.41*10–4 with the proposed 3-layer monitoring strategy in the case study. The result implies the potential of the proposed method for improving the safety of the USV.