DOI QR코드

DOI QR Code

Actuator Fault Detection and Isolation Method for a Hexacopter

헥사콥터의 구동기 고장 검출 및 분리 방법

  • Park, Min-Kee (Dept. of Electronic & IT Media Engineering, Seoul National University of Science and Technology)
  • Received : 2019.03.08
  • Accepted : 2019.03.27
  • Published : 2019.03.31

Abstract

Multicopters have become more popular since they are advantageous in their ability to take off and land vertically. In order to guarantee the normal operations of such multicopters, the problem of fault detection and isolation is very important. In this paper, a new method for detecting and isolating an actuator fault of a hexacopter is proposed based on the analytical approach. The residual is newly defined using the angular velocities of actuators estimated by the mathematical model and an actuator fault is detected comparing the residuals to a threshold. And a fault is isolated combining a dynamic model and generated residuals when a fault is detected. The proposed method is a simple, but effective technique because it is based on mathematical model. The results of the computer simulation are also given to demonstrate the validity of the proposed algorithm in case of a single failure.

JGGJB@_2019_v23n1_266_f0001.png 이미지

Fig. 1. Coordinate system of a hexacopter. 그림 1. 헥사콥터의 좌표계

JGGJB@_2019_v23n1_266_f0002.png 이미지

Fig. 2. Layout of a hexarotor. 그림 2. 헥사로터의 배치

JGGJB@_2019_v23n1_266_f0003.png 이미지

Fig. 3. Residual generation process. 그림 3. 잔차 생성 과정

JGGJB@_2019_v23n1_266_f0004.png 이미지

Fig. 4. Reference angular velocities. 그림 4. 기준 각속도 입력

JGGJB@_2019_v23n1_266_f0005.png 이미지

Fig. 5. Angular velocities estimated by pseudo-inverse. 그림 5. Pseudo-inverse에 의해 추정된 각속도

JGGJB@_2019_v23n1_266_f0006.png 이미지

Fig. 6. Differences between reference angular velocities and estimated angular velocities. 그림 6. 기준 각속도와 추정 각속도의 차

JGGJB@_2019_v23n1_266_f0007.png 이미지

Fig. 7. Generated residuals. 그림 7. 생성된 잔차

Table 1. Reference angular velocities for controlling actuators. 표 1. 구동기의 기준 각속도 입력

JGGJB@_2019_v23n1_266_t0001.png 이미지

Table 2. Hexacopter parameters. 표 2. 헥사콥터 파라미터

JGGJB@_2019_v23n1_266_t0002.png 이미지

Acknowledgement

Supported by : SeoulTech

References

  1. A Study on Fault Detection and Redundancy Management System, Smart UAV Development Program Phase 1 Final Report, Ministry of Trade, Industry and Energy, Seoul National University, 2005.
  2. A. Freddi, S. Longhi and A. Monteriu, "Actuator fault detection system for a mini-quadrotor," 2010 IEEE International Symposium on Industrial Electronics, pp. 2055-2060, 2010.
  3. M. H. Amoozgar, A. Chamseddine and Y. Zhang, "Experimental test of a two-stage Kalman filter for actuator fault detection and diagnosis of an unmanned quadrotor helicopter," Journal of Intelligent & Robotic Systems, vol. 70, no. 1-4, pp. 107-117, 2013. DOI: 10.1007/s10846-012-9757-7 https://doi.org/10.1007/s10846-012-9757-7
  4. A. Freddi, S. Longhi, A. Monteriu and M Prist, "Actuator fault detection and Isolation system for an Hexacopter," Proc. of the 2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA), pp. 2055-2060, 2014. DOI: 10.1109/MESA.2014.6935563
  5. C. H. Lee and M. K. Park, "Actuator Fault estimation Method using Hexacopter Symmetry," Journal of Institute of Control, Robotics and Systems, vol. 22, no. 7, pp. 519-513, 2016. DOI: 10.5302/J.ICROS.2016.16.0082 https://doi.org/10.5302/J.ICROS.2016.16.0082
  6. Le Dong Khanh, "Mathematical Modeling and Autonomous Tracking Control for Hexacopter," Ph.D. thesis, Mokpo National Maritime University, 2016.
  7. H. Kim, H. S. Jeong, K. T. Chong and D. J. Lee, "Dynamic Modeling and Control Techniques for Multi-Rotor Flying Robot," Transactions of the KSME A, vol. 38, no. 2, pp. 137-147, 2014. DOI: 10.3795/KSME-A.2014.38.2.137 https://doi.org/10.3795/KSME-A.2014.38.2.137
  8. A. Monteriu, P. Asthana, K. P. Valavanis, and S. Longhi, "Real-Time Model-Based Fault Detection and Isolation for UGVs," Journal of Intelligent and Robotic Systems, vol. 56, no. 4, pp. 425-439, 2009. DOI: 10.1007/s10846-009-9321-2 https://doi.org/10.1007/s10846-009-9321-2
  9. J. Qi, Z. Jiang, X. Zhao and J. Han, "UKF-based Rotorcraft UAV Fault Adaptive Control for Actuator Failure," Proc. of the 2007 IEEE International Conference on Robotics and Biomimetics, pp. 1545-1550, 2007. DOI: 10.1109/ROBIO.2007.4522394
  10. R. S. Pil, "Fault diagnosis for electric chassis systems," Master thesis, Korea Advanced Institute of Science and Technology(KAIST), 2002.
  11. J. S. Wang, "A Study on the Modeling and Attitude Control of a Quad-rotor," Master thesis, Hoseo University, 2011.