헥사콥터의 구동기 고장 검출 및 분리 방법

• Park, Min-Kee (Dept. of Electronic & IT Media Engineering, Seoul National University of Science and Technology)
• 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.

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

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

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

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

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

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

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

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

Table 2. Hexacopter parameters. 표 2. 헥사콥터 파라미터

Acknowledgement

Supported by : SeoulTech

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