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首页> 外文期刊>Zeitschrift fur Arznei- und Gewurzpflanzen >Real-Time Vibration-Based Propeller Fault Diagnosis for Multicopters
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Real-Time Vibration-Based Propeller Fault Diagnosis for Multicopters

机译：基于振动的基于振动的螺旋桨故障诊断

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摘要

Reliable health monitoring of mechanical components in aerial robotic systems is crucial to their safe operation. The highly constrained nature of aerial systems requires that such systems operate with a minimum of sensing and computational power. This article proposes a method for the detection and diagnosis of motor/propeller degradation on a multicopter aerial robot. The proposed method works by monitoring the accelerometer output, and effectively correlates vibration power to the motor commands, allowing it to estimate the magnitude of a propeller's unbalance mass. This is done directly in the time domain with a recursive implementation. The method makes low computational and memory demands, and relies only on the accelerometer almost universally present on aerial robots, so that it may be easily implemented on existing platforms as well as new designs. Experiments show reliable detection of a faulty propeller on three distinct multicopter platforms: two quadcopters whose masses differ by more than an order of magnitude, and a hexacopter; one vehicle has brushed motors, two have brushless motors. The proposed method requires only a minimum of assumptions about the vehicle's dynamic model, and does not, e.g., require knowledge of the vehicle's center of mass or its mass moment of inertia.
机译：可靠的健康监测空中机器人系统中的机械部件对其安全操作至关重要。空中系统的高度约束性质要求这种系统以最小的感测和计算能力运行。本文提出了一种在多型空中机器人上检测和诊断电动机/螺旋桨劣化的方法。所提出的方法通过监测加速度计输出来工作，并有效地将振动功率与电动机命令相关联，允许其估计螺旋桨不平衡质量的大小。这是通过递归实现的时域直接完成的。该方法的计算和内存需求低，并且仅依赖于在空中机器人上几乎普遍存在的加速度计，因此可以在现有平台以及新设计上轻松实现。实验表明，三个不同的多变平板上的故障螺旋桨的可靠性检测：两个Quadcopters，其肿块不同的数量级和六顶器;一辆车有拉丝电机，两个有无刷电机。所提出的方法仅需要关于车辆的动态模型的最小假设，并且没有例如需要了解车辆的质量中心或其质量惯性矩。

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