Analysis and design of a tilted rotor hexacopter for fault tolerance
A proof is presented of how a hexagon-shaped hexacopter can be designed to keep the ability to reject disturbance torques in all directions while counteracting the effect of a failure in any of its motors. The method proposed is simpler than previous solutions, because it does not require change of...
| Autores: | , , |
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| Formato: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2016 |
| País: | Argentina |
| Recursos: | Consejo Nacional de Investigaciones Científicas y Técnicas |
| Repositorio: | CONICET Digital (CONICET) |
| Idioma: | inglés |
| OAI Identifier: | oai:ri.conicet.gov.ar:11336/178853 |
| Acesso em linha: | http://hdl.handle.net/11336/178853 |
| Access Level: | acceso abierto |
| Palavra-chave: | Unmanned Aerial Vehicle Hexacopter Fault Tolerant Control Control allocation https://purl.org/becyt/ford/2.2 https://purl.org/becyt/ford/2 |
| Resumo: | A proof is presented of how a hexagon-shaped hexacopter can be designed to keep the ability to reject disturbance torques in all directions while counteracting the effect of a failure in any of its motors. The method proposed is simpler than previous solutions, because it does not require change of the motor rotation direction or in-flight mechanical reconfiguration of the vehicle. It consists of tilting the rotor a small fixed angle with respect to the vertical axis. Design guidelines are presented to calculate the tilt angle to achieve fault-tolerant attitude control without losing significant vertical thrust. It is also formally proved that the minimum number of unidirectional rotating motors needed to have fault tolerance is 6 and that this can be achieved by tilting their rotors. This proof is essentially a control allocation analysis that recovers in a simple way a result already known: the standard configuration (without tilting the motors) is not fault tolerant. A simulation example illustrates the theory. |
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