Fault Detection and Tolerant Control for Aero2 2D0F Two-rotor Helicopter

Abstract

Stability and satisfactory performance are critical control requirements for Unmanned Aerial Vehicle (UAV) applications. While conventional control systems for UAVs aim to ensure flight stability and safe operation while accomplishing tasks, UAVs may experience various flight faults that can degrade performance or, in severe cases, lead to instability. Unsatisfactory performance or instability of a UAV poses risks to lives, properties, and the flying environment. Therefore, it's essential to design a system capable of detecting faults, pinpointing their location, assessing their severity, and using this information to mitigate them, enabling the vehicle to continue operating satisfactorily. Despite the importance of analysing fault performance to select optimal fault detection and tolerance strategies, limited research has been conducted, especially with real systems. This study examines the performance of a 2-degree-of-freedom (2DOF) bi-rotor helicopter's control system in the presence of various actuator faults. Results from different fault conditions demonstrate that faults degrade the performance of conventional control systems on UAVs and introduce vibrations into the system, particularly when faults cause asymmetry or imbalance. However, additional experiments reveal that effective fault diagnosis and accommodation methods can help maintain satisfactory system performance despite the presence of faults.

Figures (7)

• Figure 1: Classification of different types faults that may affect the operation of a UAV 22qi2013literature.
• Figure 2: Block diagram that illustrates the design of a fault diagnosis and tolerance control system.
• Figure 3: 2-DOF helicopter configuration of the Aero 2 equipment [image by Quanser Inc.]
• Figure 4: LQR control architecture
• Figure 5: Blades breaks considered as faults for fault experiments.