This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Integrated Health Monitoring and Fault Adaptive Control for an Unmanned Hexrotor Helicopter
Technical Paper
2013-01-2331
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
This paper presents a novel health monitoring and fault adaptive control architecture for an unmanned hexrotor helicopter. The technologies developed to achieve the described level of robust fault contingency management include; 1.) A Particle Swarm Optimization (PSO) routine for maximizing the “built-in” fault tolerance that the closed loop flight control system affords, 2.) A two-stage Kalman filter scheme for real-time identification of faults that are masked by control system compensation, and 3.) A reconfigurable control allocation method which compensates for large degradations of the six main motor/rotor assemblies. The fault adaptive control system presented herein has strong robustness against small faults without the need for controller reconfiguration, and strong tolerance of large faults through adaptive accommodation of the fault source and severity. By taking advantage of the inherent fault-tolerant nature of typical closed loop control systems, the technology described in this paper avoids the difficulties associated with typical fault detection and isolation (FDI) techniques that have poor performance when targeting incipient faults. Simulation results show the effectiveness of the proposed approach when various levels of fault severity are seeded in one of the six main motors.
Recommended Content
| Technical Paper | Automatic Flight Control Development for General Aviation |
| Technical Paper | Autonomous Integrated Air Vehicle Control |
| Technical Paper | Fail-Operational DAFCS for Business/Commuter Aircraft |
Authors
Citation
Ge, J., Lefevre, B., Roemer, M., and Martin, R., "Integrated Health Monitoring and Fault Adaptive Control for an Unmanned Hexrotor Helicopter," SAE Technical Paper 2013-01-2331, 2013, https://doi.org/10.4271/2013-01-2331.Also In
References
- Vachtsevanos , G. , Lewis , F. L. , Roemer , M. J. , Hess , A. , and Wu , B. Intelligent Fault Diagnosis and Prognosis for Engineering Systems John Wiley & Sons 2006
- Ge , J. , Roemer , M. J. , and Vachtsevanos , G. An Automated Contingency Management Simulation Environment for Integrated Health Management and Control The IEEE Aerospace Conference 3725 3732 Big Sky, MT March 2004
- Zhang , Y. M. and Jiang , J. Bibliographical review on reconfigurable fault-tolerant control Annul. Rev. Control 32 2 229 252 2008
- Yu , X. and Jiang , J. Hybrid Fault-Tolerant Flight Control System Design Against Partial Actuator Failures IEEE Trans. On Control Systems Technology 20 4 871 886 2012
- Boskovic , J. D. A new Decentralized Retrofit Adaptive Fault-tolerant Flight Control Design Int. J. of Adaptive Control and Signal Processing December 2012
- Sallee , G. P. , and Gibbons , D. M. AIA/AECMA Project Report on Propulsion System Malfunction Plus Inappropriate Crew Response (PSM+ICR), Volumes I&II Aerospace Industries Association and The European Association of Aerospace Industries November 1 1998
- http://aviationknowledge.wikidot.com/aviation:ergonomics-of-cae-7000-series-simulator-configured
- FAA Policy Statement FAA Policy on Type Certification Assessment of Thrust Management Systems FAA Policy Statement Number ANM-01-02 March 2002
- Arducopter https://code.google.com/p/arducopter
- Schneider , T. Fault-tolerant Multirotor Systems Master Thesis Eidgenossische Technische Hochschule Zurich 2011
- Wu , N. E. , Zhang , Y. , and Zhou K. Detection, Estimation, and Accommodation of Loss of Control Effectiveness Int. J. of Adaptive Control and Signal Processing 14 775 795 2000
- Crowther , B. , Lanzon , A. , Maya-Gonzalez , and Langkamp , D. Kinematic Analysis and Control Design for a Nonplanar Multirotor Vehicle Journal of Guidance, Control, and Dynamics 34 4 1157 1171 July August 2011
- Ducard , G. J. J. and Hua , M. D. Discussion and Practical Aspects on Control Allocation for a Multi-rotor Helicopter Int. Archives of the Photogrammetry, Remote Sensing and Spatial Information Science, Conference on Unmanned Aerial Vehicle Geomatics Zurich, Switzerland 2011
- Kennedy , J. and Eberhart , R. Swarm Intelligence Morgan Kaufman Publishers 2001
- Morkos , S. and Kamal , H. Optimal Tuning of PID Controller Using Adaptive Hybrid Particle Swarm Optimization Algorithm Int. J. of Computers, Communications & Control VII 1 101 114 2012
- Amoozgar , M. H. , Chamseddine , A. , and Zhang , Y. Experimental Test of a Two-Stage Kalman Filter for Actuator Fault Detection and Diagnosis of an Unmanned Quadrotor Helicopter Journal of Intelligent & Robotic Systems 70 107 117 April 2013