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A Hoverability Analysis Method for Multirotor UAVs with a Case Study on Fault Tolerance

机译：一种以容错为例的多旋翼无人机悬空分析方法

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This paper presents a method for analyzing hov-erability of multirotor unmanned aerial vehicles (UAVs), These vehicles need to be able to remain at a constant position in the air and should keep safe flight even after rotor failure. However, there has been no systematic method so far to analyze such an ability of multirotor UAVs. This is due to the difficulty in finding equilibria of a multirotor UAV system whose rotors can exert force only in one direction. The present method only requires mechanical properties of the vehicles: the center of mass; rotor positions; and directions of rotor rotation. First, dynamics of a generalized multirotor UAV model is introduced. Second, the hoverability analysis method is proposed. Third, an example of multirotor UAV structure is presented, and the present hoverability analysis method is conducted. Finally, the method is applied to investigation of multirotor UAVs' hoverability in the case of rotor failure, and some kinds of vehicles which can tolerate the failure are introduced.
机译：本文提出了一种分析多旋翼无人机的惯性的方法。这些飞行器需要能够在空中保持恒定的位置，即使在旋翼失效后也应保持安全飞行。但是，到目前为止，还没有系统的方法来分析这种多旋翼无人机的能力。这是由于难以找到多旋翼无人机系统的平衡点，该系统的旋翼只能在一个方向上施加力。本方法仅要求车辆的机械性能：重心;转子位置;和转子旋转方向。首先，介绍了广义多旋翼无人机模型的动力学特性。其次，提出了悬停性分析方法。第三，以多旋翼无人机结构为例，进行了目前的悬停能力分析方法。最后，将该方法应用于多旋翼无人机在转子故障情况下的悬停性能研究，并介绍了几种可以容忍该故障的飞行器。

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