Modeling and Fault Detection of Quadrotor with Rotor Thrust Deviation Fault

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Aghakhani Hashem; Rezaei Parham; AYATI SEYED MOOSA; MAHJOOB MOHAMMAD; MAHJOOB MOHAMMAD

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Journal Paper

Paper Information

Journal: Modeling in Engineering Year:2022 | Volume:19 | Issue:67 Page(s): 245-262

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Information Journal Paper

Title

Modeling and Fault Detection of Quadrotor with Rotor Thrust Deviation Fault

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Keywords

Quadrotor

Structural Fault

Thrust Deviation

dynamical modeling

Fault detection

Residual Calculation

Abstract

In this study, modeling and Fault detection of a novel faulty Quadrotor is presented. It is assumed that a Quadrotor vehicle has encountered a fault during a flight accident, and as a result, one of the rotors does not operate vertically. Although the rotor's rotational axis has deviated from the vertical direction, the amount of produced thrust remains constant. Detecting this fault along with utilizing a proper controlling approach can reduce the risk of failure in the vehicle. Based on this statement, the procedure of this study has been developed in three main stages. First, the kinematic and dynamic equations governing the faulty system are driven using Newton's second law and Euler's principle. Then, equations governing the faulty system and the Thau observer are employed to calculate the residual value. This parameter is calculated based on the differences between states’,measurement and estimation. Eventually, by comparing the computed residual value with the assumed threshold, Thrust Deviation in the shortest possible time has been detected.

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APA: Copy

Aghakhani, Hashem, Rezaei, Parham, AYATI, SEYED MOOSA, MAHJOOB, MOHAMMAD, & MAHJOOB, MOHAMMAD. (2022). Modeling and Fault Detection of Quadrotor with Rotor Thrust Deviation Fault. JOURNAL OF MODELING IN ENGINEERING, 19(67 ), 245-262. SID. https://sid.ir/paper/992514/en

Vancouver: Copy

Aghakhani Hashem, Rezaei Parham, AYATI SEYED MOOSA, MAHJOOB MOHAMMAD, MAHJOOB MOHAMMAD. Modeling and Fault Detection of Quadrotor with Rotor Thrust Deviation Fault. JOURNAL OF MODELING IN ENGINEERING[Internet]. 2022;19(67 ):245-262. Available from: https://sid.ir/paper/992514/en

IEEE: Copy

Hashem Aghakhani, Parham Rezaei, SEYED MOOSA AYATI, MOHAMMAD MAHJOOB, and MOHAMMAD MAHJOOB, “Modeling and Fault Detection of Quadrotor with Rotor Thrust Deviation Fault,” JOURNAL OF MODELING IN ENGINEERING, vol. 19, no. 67 , pp. 245–262, 2022, [Online]. Available: https://sid.ir/paper/992514/en

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