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首页> 外文期刊>Journal of guidance, control, and dynamics >Controllability Analysis for Multirotor Helicopter Rotor Degradation and Failure
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Controllability Analysis for Multirotor Helicopter Rotor Degradation and Failure

机译：多旋翼直升机旋翼退化与失效的可控性分析

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摘要

The controllability problem of a class of multirotor helicopters was investigated. An ACAI was introduced to quantify the available control authority of multirotor systems. Based on the ACAI, a new necessary and sufficient condition was given based on a positive controllability theory. Moreover, a step-by-step procedure was developed to test the controllability of the considered multirotor helicopters. The proposed controllability test method was used to analyze the controllability of a class of hexacopters to show its effectiveness. Analysis results showed that the hexacopters with different rotor configurations have different fault tolerant capabilities. It is therefore necessary to test the controllability of the multirotor helicopters before any fault-tolerant control strategies are employed.
机译：研究了一类多旋翼直升机的可控性问题。引入了ACAI来量化多转子系统的可用控制权。基于ACAI，基于正可控性理论给出了一个新的充要条件。此外，还逐步开发了程序来测试所考虑的多旋翼直升机的可控性。提出的可控性测试方法用于分析一类六旋翼飞机的可控性，以证明其有效性。分析结果表明，不同旋翼配置的六旋翼飞机具有不同的容错能力。因此，在采用任何容错控制策略之前，必须测试多旋翼直升机的可控性。

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  • 来源
    《Journal of guidance, control, and dynamics》 |2015年第5期|978-985|共8页
  • 作者

    Guang-Xun Du; Quan Quan; Binxian Yang; Kai-Yuan Cai;

  • 作者单位

    Beihang University, 100191 Beijing, People's Republic of China;

    Beihang University, 100191 Beijing, People's Republic of China;

    Beihang University, 100191 Beijing, People's Republic of China;

    Beihang University, 100191 Beijing, People's Republic of China;

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