EKF-Based Actuator Fault Detection and Diagnosis Method for Tilt-Rotor Unmanned Aerial Vehicles
Joint Authors
Zhang, Qian
Gao, Jiaxin
Chen, Jiyang
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-08-03
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
Flight safety is of vital importance for tilt-rotor unmanned aerial vehicles (UAVs), which can take off and land vertically as well as cruise at high speed, especially in different kinds of complex environment.
As being the executor of the flight control, the actuator failure will directly affect the controllability of the tilt-rotor UAV, and it has high probability of causing fatal personal injury and financial loss.
However, due to the limitation of weight and cost, small UAVs cannot be equipped with redundant actuators.
Therefore, there is an urgent need of fault detection and diagnosis method for the actuators.
In this paper, an actuator fault detection and diagnosis (FDD) method based on the extended Kalman filter (EKF) and multiple-model adaptive estimation (MMAE) is proposed.
The actuator deflections are added to the state vector and estimated using EKF.
The fault diagnosis algorithm of MMAE could assign a conditional probability to each faulty actuator according to the residual of EKF and diagnose the fault.
This paper is structured as follows: first, the structure and model of tilt-rotor UAV actuator are established.
Then, EKF observers are introduced to estimate the state vector and to calculate residual sequences caused by different faulty actuators.
The residuals from EKFs are used by fault diagnosis algorithm to assign a conditional probability to each failure condition, and fault type can be diagnosed according to the probabilities.
The FDD method is verified by simulations, and the results demonstrate that the FDD algorithm could accurately and efficiently diagnose actuator fault without any additional sensor.
American Psychological Association (APA)
Gao, Jiaxin& Zhang, Qian& Chen, Jiyang. 2020. EKF-Based Actuator Fault Detection and Diagnosis Method for Tilt-Rotor Unmanned Aerial Vehicles. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1200825
Modern Language Association (MLA)
Gao, Jiaxin…[et al.]. EKF-Based Actuator Fault Detection and Diagnosis Method for Tilt-Rotor Unmanned Aerial Vehicles. Mathematical Problems in Engineering No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1200825
American Medical Association (AMA)
Gao, Jiaxin& Zhang, Qian& Chen, Jiyang. EKF-Based Actuator Fault Detection and Diagnosis Method for Tilt-Rotor Unmanned Aerial Vehicles. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1200825
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1200825