Analysis and Management of Motor Failures of Hexacopter in Hover

Wen, Fu-Hsuan; Hsiao, Fu-Yuen; Shiau, Jaw-Kuen

doi:10.3390/act10030048

Cited by 7 publications

(7 citation statements)

References 24 publications

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“…Unlike the hovering operation, the maneuver requires different control authorities in all moment directions in this operation. In this case, the optimization fits Equation (14), which describes the required moments to meet the assigned maneuver into the AMS using the formulation in Equation (17). Similarly, the results demonstrated that sufficient control authority was obtained in all directions, based on their relative weight.…”

Section: Maneuver Requirementmentioning

confidence: 85%

“…In the event of an actuator failure, it is essential to employ an emergent hovering to regain control before the decision to continue following the mission path or performing an emergency landing [14]. An emergent hovering is guaranteed if the system is null controllable, which describes the possibility of driving the UAV state to its hovering state in a finite time with admissible control .…”

Section: Null Controllabilitymentioning

confidence: 99%

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Multirotor Unmanned Aerial Vehicle Configuration Optimization Approach for Development of Actuator Fault-Tolerant Structure

et al. 2022

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Presently, multirotor unmanned aerial vehicles (UAV) are utilized in numerous applications. Their design governs the system’s controllability and operation performance by influencing the achievable forces and moments produced. However, unexpected causalities, such as actuator failure, adversely affect their controllability, which raises safety concerns about their service. On the other hand, their design flexibility allows further design optimization for various performance requirements, including actuator failure tolerance. Thus, this study proposed an optimization framework that can be employed to design a novel actuator fault-tolerant multirotor UAV configuration. The approach used an attainable moment set (AMS) to evaluate the achievable moment from a multirotor configuration; similarly, standard deviation geometries (SDG) were employed to define performance requirements. Therefore, given a UAV configuration, actuator fault situation, and SDG derived from the designed mission requirement, the suggested optimization framework maximizes the scaling factor of SDG and fits it into the AMS by adjusting the design parameters up to a sufficient margin. The framework is implemented to optimize selected parameters of the Hexacopter-type of parcel delivery multirotor UAV developed by the PNU drone, and a simulation was conducted. The result showed that the optimized configuration of the UAV achieved actuator fault tolerance and operation-performing capability in the presence of a failed actuator.

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Section: Maneuver Requirementmentioning

confidence: 85%

Section: Null Controllabilitymentioning

confidence: 99%

Multirotor Unmanned Aerial Vehicle Configuration Optimization Approach for Development of Actuator Fault-Tolerant Structure

et al. 2022

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“…The accommodation is achieved through the classical pseudo-inverse scheme Ω = (AΛ(t)) + v, and Λ(t) = diag (λ 1 (t), • • • , λ 6 (t)) , λ i ∈ [0, 1] designates the effectiveness matrix of actuators, with λ i = 1 in the nominal case, λ i = 0 for the complete failure case, λ i ∈]0, 1[ in case of loss of effectiveness. A similar approach is found in [20], where the controllability of the vehicle under complete motor failures is further studied.…”

Section: ) Pseudo-inverse Based Camentioning

confidence: 98%

WCA: A New Efficient Nonlinear Adaptive Control Allocation for Planar Hexacopters

Ducard¹,

Hua²

2023

IEEE Access

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This paper presents an efficient control allocation (CA) strategy which significantly improves the flight performance of a planar hexacopter. This allocation maps the desired control vector v = [T, L, M, N ] composed of the thrust and torques in roll, pitch, and yaw axis, respectively, to propellers' speed. This paper shows that a CA strategy based on the classical approach of pseudo-inverse matrix only exploits a limited range of the vehicle capabilities to generate thrust and moments. A novel approach is presented, which is based on a weighted pseudo-inverse matrix method, called WCA, capable of exploiting a much larger domain in v. The three weights involved in WCA are adapted online according to nonlinear laws which are analytically derived by solving symbolically the equivalent constraint least-squares problem, thus removing the need for online-optimization calculations. This solution allows for very fast real-time operations, suitable for autopilots with limited computing resources. This paper provides 1) a detailed analysis of the limitations of the classical control allocation scheme, 2) the mathematical development of the WCA algorithm, 3) simulations and real experiments which show that this WCA strategy outperforms the classical CA approach in terms of a) capability to generate the maximum roll and pitch torques possible, without generating undesired yaw torques, b) prioritizing the generation of thrust over attitude torques, thus achieving better altitude tracking despite aggressive maneuvers or the presence of a payload, and c) better behavior in case of actuator saturation, faults or even failures.

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“…Wen Fu-Hsuan et al [ 64 ] present an analysis and management strategy for hexacopters during fixed-point hovering manoeuvres in the event of one or more engine failures. The study suggests keeping the deviation between input and output values unchanged by reallocating the thrust forces to the rotors.…”

Section: Related Workmentioning

confidence: 99%

Improvement of Hexacopter UAVs Attitude Parameters Employing Control and Decision Support Systems

Stamate

Pupăză

Nicolescu

et al. 2023

Sensors

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Today, there is a conspicuous upward trend for the development of unmanned aerial vehicles (UAVs), especially in the field of multirotor drones. Their advantages over fixed-wing aircrafts are that they can hover, which allows their usage in a wide range of remote surveillance applications: industrial, strategic, governmental, public and homeland security. Moreover, because the component market for this type of vehicles is in continuous growth, new concepts have emerged to improve the stability and reliability of the multicopters, but efficient solutions with reduced costs are still expected. This work is focused on hexacopter UAV tests carried out on an original platform both within laboratory and on unrestricted open areas during the start–stop manoeuvres of the motors to verify the operational parameters, hover flight, the drone stability and reliability, as well as the aerodynamics and robustness at different wind speeds. The flight parameters extracted from the sensor systems’ comprising accelerometers, gyroscopes, magnetometers, barometers, GPS antenna and EO/IR cameras were analysed, and adjustments were performed accordingly, when needed. An FEM simulation approach allowed an additional decision support platform that expanded the experiments in the virtual environment. Finally, practical conclusions were drawn to enhance the hexacopter UAV stability, reliability and manoeuvrability.

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Analysis and Management of Motor Failures of Hexacopter in Hover

Cited by 7 publications

References 24 publications

Multirotor Unmanned Aerial Vehicle Configuration Optimization Approach for Development of Actuator Fault-Tolerant Structure

Multirotor Unmanned Aerial Vehicle Configuration Optimization Approach for Development of Actuator Fault-Tolerant Structure

WCA: A New Efficient Nonlinear Adaptive Control Allocation for Planar Hexacopters

Improvement of Hexacopter UAVs Attitude Parameters Employing Control and Decision Support Systems

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