Analysis and Management of Motor Failures of Hexacopter in Hover
學年 109
學期 2
出版（發表）日期 2021-03-02
作品名稱 Analysis and Management of Motor Failures of Hexacopter in Hover
作品名稱（其他語言）
著者 Fu-Hsuan Wen; Fu-Yuen Hsiao; Jaw-Kuen Shiau
單位
出版者
著錄名稱、卷期、頁數 Actuators 10(3), p.48
摘要 This research presents an analysis and management strategy for hovering hexacopter with one or more failing motors. Of late, multirotor drones have become particularly popular, and all drones have been increasing in popularity. Unlike a fixed-wing drone, failure of motors in a multirotor craft may cause safety problems. Numerous published articles have proposed solving this problem by redesigning the control law or control gain. This approach, however, is difficult to implement because change of control gain usually involves connecting external devices. This paper proposes to keep the control gain unchanged but reallocate the thrusts. Simulations are conducted on a hexacopter in various hovering modes. Some hovering state problems are investigated for the linearized dynamics but also numerically verified for the original nonlinear dynamics. In case some motors of a hexacopter fail in flight, an allocation matrix is proposed to redistribute required thrusts to functional motors. Seven cases of motor failure are studied. This paper analytically proves that limited controllability for emergency landing is feasible in four scenarios at the linear level, but the other three scenarios are completely uncontrollable. Numerical simulations are presented to demonstrate the validity of our algorithm. An online video of real flight also confirms our results. This paper potentially helps the design of failure management of rotors and increases the successful rate of emergent landing.
關鍵字 motor failure;failure management;control allocation;hexacopter;drones
語言 en
ISSN 2076-0825
期刊性質 國外
收錄於 SCI
產學合作
通訊作者 Fu-Yuen Hsiao
審稿制度 是
國別 CHE
公開徵稿
出版型式 ,電子版
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/120032 )

SDGS 尊嚴就業與經濟發展,產業創新與基礎設施