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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Emergency Control of AR Drone Quadrotor UAV Suffering a Total Loss of One Rotor
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Emergency Control of AR Drone Quadrotor UAV Suffering a Total Loss of One Rotor

机译：一台转子完全损毁的AR无人机四旋翼无人机的应急控制。

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摘要

In this paper, an emergency fault-tolerant controller is developed for quadrotor unmanned aerial vehicles (UAVs) suffering a total loss of one actuator (rotor/motor). The proposed controller is based on control allocation where the infected actuator is exempted from the control effect, and control efforts are redistributed among healthy actuators. As a result, the emergency controller transforms the infected quadrotor into a trirotor and uses the remaining actuators to ensure that the UAV continues following its path. The main advantage of the new controller is that it uses the same simple proportional-integral-derivative (PID) controller applied in fault-free cases by redistributing its controls, rather than designing complex and memory consumable controllers. Experimental results using the augmented reality (AR) Drone 2 platform show that by implementing the quadrotor to trirotor conversion maneuver, the nominal PID controller gains powerful fault-tolerant capabilities and the infected UAV is successful in maintaining its desired path. Performance degradation seen as oscillations did not cause the drone to crash despite the total loss of yaw control, the presence of activation delay, the nonsymmetric structure of the trirotor, and its odd number of rotors that produces imbalance of the rotor moments.
机译：本文为四旋翼无人飞行器（UAV）开发了一种紧急故障容错控制器，该控制器总损失一个执行器（旋翼/电动机）。所提出的控制器基于控制分配，其中被感染的执行器免于控制效果，并且控制工作在健康执行器之间重新分配。结果，应急控制器将受感染的四旋翼飞机转换为三旋翼飞机，并使用其余的执行器确保无人机继续沿其路径行驶。新控制器的主要优点在于，它使用相同的简单比例积分微分（PID）控制器，通过重新分配其控件来应用于无故障情况，而不是设计复杂的内存消耗控制器。使用增强现实（AR）无人机2平台的实验结果表明，通过实施四旋翼至三旋翼的转换操纵，标称PID控制器获得了强大的容错能力，被感染的无人机成功地维持了其所需的路径。尽管完全失去了偏航控制，存在激活延迟，三旋翼的非对称结构以及其奇数个导致转子力矩不平衡的转子，但由于振荡而导致的性能下降并未导致无人机坠毁。

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