헥사콥터의 구동기 고장 검출 및 분리 방법

Multicopters have become more popular since they are advantageous in their ability to take off and land vertically. Inorder to guarantee the normal operations of such multicopters, the problem of fault detection and isolation is veryimportant. In this paper, a new method for detecting and isolating an actuator fault of a hexacopter is proposed based onthe analytical approach. The residual is newly defined using the angular velocities of actuators estimated by themathematical model and an actuator fault is detected comparing the residuals to a threshold. And a fault is isolatedcombining a dynamic model and generated residuals when a fault is detected. The proposed method is a simple, buteffective technique because it is based on mathematical model. The results of the computer simulation are also given todemonstrate the validity of the proposed algorithm in case of a single failure.