Faults detection and self-reconfiguration for execution units of Hex-Rotor unmanned aerial vehicle based on multiple fault classification;Hex-Rotor

doi:10.3785/j.issn.1008-973X.2018.07.022

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	Faults detection and self-reconfiguration for execution units of Hex-Rotor unmanned aerial vehicle based on multiple fault classification;Hex-Rotor
	Wang, Ri-Jun; Zhao, Chang-Jun; Bai, Yue; Zeng, Zhi-Qiang; Du, Wen-Hua; Duan, Neng-Quan
	2018
发表期刊	Journal of Zhejiang University(Engineering Science)
ISSN	1008973X
卷号	52 期号:7 页码:1406-1414
摘要	The safety and reliability of the Hex-Rotor UAV were improved in order to detect the fault of the execution units of Hex-Rotor unmanned aerial vehicle (UAV) quickly and accurately. The faults detection and self-reconfiguration for execution units of Hex-Rotor UAV was proposed based on multiple fault classification. The lift model of the execution units was established based on the classification of the fault of the execution units. The fault observer group based on the extended Kalman filter (EKF) algorithm was constructed to achieve fault detection and isolation. Then a self-reconfigurable control algorithm based on multiple fault classification was designed by using the output signal of the fault observer group. The effectiveness of the proposed algorithm was verified by theoretical analysis, numerical simulation and actual flight. Results show that the algorithm can complete fault detection and isolation quickly and accurately, and ensure the stability of the attitude control of the Hex-Rotor UAV under fault condition. 2018, Zhejiang University Press. All right reserved.
关键词	Fault detection Aircraft control Aircraft detection Antennas Attitude control Extended Kalman filters Flight simulators Modular robots Unmanned aerial vehicles (UAV)
DOI	10.3785/j.issn.1008-973X.2018.07.022
收录类别	EI
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/60666
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	Wang, Ri-Jun,Zhao, Chang-Jun,Bai, Yue,et al. Faults detection and self-reconfiguration for execution units of Hex-Rotor unmanned aerial vehicle based on multiple fault classification;Hex-Rotor[J]. Journal of Zhejiang University(Engineering Science),2018,52(7):1406-1414.
APA	Wang, Ri-Jun,Zhao, Chang-Jun,Bai, Yue,Zeng, Zhi-Qiang,Du, Wen-Hua,&Duan, Neng-Quan.(2018).Faults detection and self-reconfiguration for execution units of Hex-Rotor unmanned aerial vehicle based on multiple fault classification;Hex-Rotor.Journal of Zhejiang University(Engineering Science),52(7),1406-1414.
MLA	Wang, Ri-Jun,et al."Faults detection and self-reconfiguration for execution units of Hex-Rotor unmanned aerial vehicle based on multiple fault classification;Hex-Rotor".Journal of Zhejiang University(Engineering Science) 52.7(2018):1406-1414.

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