Modeling and Fault Detection of Quadrotor with Rotor Thrust Deviation Fault

Document Type : Mechanics article

Authors

1 Mechanical Engineering, University of Tehran, Tehran, Iran

2 Mechanical Engineering, University of Tehran. Tehran, Iran

3 Associate Professor, Mechanical Engineering. University of Tehran.Tehran, Iran

4 Mechanical Engineering. University of Tehran. Tehran, Iran.

Abstract

In this study, modeling and fault detection of a novel faulty quadrotor is presented. It is assumed that a quadrotor vehicle has encountered a fault during a flight accident, and as a result, one of the rotors does not operate vertically. Although the rotor's rotational axis has deviated from the vertical direction, the amount of produced thrust remains constant. Detecting this fault along with utilizing a proper controlling approach can reduce the risk of failure in the vehicle. Based on this statement, the procedure of this study has been developed in three main stages. First, the kinematic and dynamic equations governing the faulty system are driven using Newton's second law and Euler's principle. Then, equations governing the faulty system and the Thau observer are employed to calculate the residual value. This parameter is calculated based on the differences between states’ measurement and estimation. Eventually, by comparing the computed residual value with the assumed threshold, thrust deviation in the shortest possible time has been detected.

Keywords

References

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Journal of Modeling in Engineering
Volume 19, Issue 67
December 2021
Pages 245-262

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History

  • Receive Date: 04 February 2021
  • Revise Date: 04 September 2021
  • Accept Date: 20 September 2021

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