淡江大學機構典藏:Item 987654321/120032
English  |  正體中文  |  简体中文  |  全文笔数/总笔数 : 62830/95882 (66%)
造访人次 : 4070738      在线人数 : 859
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜寻范围 查询小技巧：
  • 您可在西文检索词汇前后加上"双引号"，以获取较精准的检索结果
  • 若欲以作者姓名搜寻，建议至进阶搜寻限定作者字段，可获得较完整数据
    •  进阶搜寻


    jsp.display-item.identifier=請使用永久網址來引用或連結此文件: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/120032


    题名: Analysis and Management of Motor Failures of Hexacopter in Hover
    作者: Fu-Hsuan Wen;Fu-Yuen Hsiao;Jaw-Kuen Shiau
    关键词: motor failure;failure management;control allocation;hexacopter;drones
    日期: 2021-03-02
    上传时间: 2021-03-05 12:12:20 (UTC+8)
    出版者: MDPI
    摘要: This research presents an analysis and management strategy for hovering hexacopter with one or more failing motors. Of late, multirotor drones have become particularly popular, and all drones have been increasing in popularity. Unlike a fixed-wing drone, failure of motors in a multirotor craft may cause safety problems. Numerous published articles have proposed solving this problem by redesigning the control law or control gain. This approach, however, is difficult to implement because change of control gain usually involves connecting external devices. This paper proposes to keep the control gain unchanged but reallocate the thrusts. Simulations are conducted on a hexacopter in various hovering modes. Some hovering state problems are investigated for the linearized dynamics but also numerically verified for the original nonlinear dynamics. In case some motors of a hexacopter fail in flight, an allocation matrix is proposed to redistribute required thrusts to functional motors. Seven cases of motor failure are studied. This paper analytically proves that limited controllability for emergency landing is feasible in four scenarios at the linear level, but the other three scenarios are completely uncontrollable. Numerical simulations are presented to demonstrate the validity of our algorithm. An online video of real flight also confirms our results. This paper potentially helps the design of failure management of rotors and increases the successful rate of emergent landing.
    關聯: Actuators 10(3), p.48
    DOI: 10.3390/act10030048
    显示于类别:[航空太空工程學系暨研究所] 期刊論文

    文件中的档案:

    档案 描述 大小格式浏览次数
    Analysis and Management of Motor Failures of Hexacopter in Hover.pdf3394KbAdobe PDF73检视/开启
    index.html0KbHTML108检视/开启

    在機構典藏中所有的数据项都受到原著作权保护.

    TAIR相关文章

    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - 回馈