An Actuator Fault Detection and Reconstruction Scheme for Hex-Rotor Unmanned Aerial Vehicle

doi:10.1109/access.2019.2927010

CIOMP OpenIR

	An Actuator Fault Detection and Reconstruction Scheme for Hex-Rotor Unmanned Aerial Vehicle
	R.J.Wang; C.J.Zhao; Y.Bai; W.H.Du; J.Y.Wang
	2019
发表期刊	Ieee Access
ISSN	2169-3536
卷号	7 页码:93937-93951
摘要	The detection and the reconstruction of actuator faults in a fiight control system are crucial to avoid negative impacts on the aircraft itself, as well as human and environmental systems. In this paper, an actuator fault detection and reconstruction scheme based on fault classification for the hex-rotor unmanned aerial vehicle are designed. First, the fault type of actuator is analyzed and classified, then an actuator fault model is established based on multiple fault classification. Second, a fault detection and reconstruction (FDR) scheme for the hex-rotor unmanned aerial vehicle is proposed. In the proposed scheme, a fault observer group based on an extended Kalman filter (EKF) is designed for fault detection and isolation, and the fiight state feedback required by the fault observer group is provided by the multi-sensor navigation unit (MSNU). Then, a fault reconstruction algorithm of the actuator is proposed by using the output of the fault observer group. The designed FDR system is applied to hex-rotor unmanned aerial vehicle prototype for its evaluation. The simulation results show that the proposed design is capable of fault detection and the reconstruction of actuator faults, and the actual flight verifies the effectiveness of the proposed methods.
关键词	Unmanned aerial vehicle,actuator fault,multi-sensor navigation unit,fault observer,EKF,reconfigurable controller,tolerant control scheme,control allocation,diagnosis,design,controller,observer,subject,sensor,system,Computer Science,Engineering,Telecommunications
DOI	10.1109/access.2019.2927010
收录类别	SCI ; EI
语种	英语
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/62994
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	R.J.Wang,C.J.Zhao,Y.Bai,et al. An Actuator Fault Detection and Reconstruction Scheme for Hex-Rotor Unmanned Aerial Vehicle[J]. Ieee Access,2019,7:93937-93951.
APA	R.J.Wang,C.J.Zhao,Y.Bai,W.H.Du,&J.Y.Wang.(2019).An Actuator Fault Detection and Reconstruction Scheme for Hex-Rotor Unmanned Aerial Vehicle.Ieee Access,7,93937-93951.
MLA	R.J.Wang,et al."An Actuator Fault Detection and Reconstruction Scheme for Hex-Rotor Unmanned Aerial Vehicle".Ieee Access 7(2019):93937-93951.

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