Analysis and design of a tilted rotor hexacopter for fault tolerance

A proof is presented of how a hexagon-shaped hexacopter can be designed to keep the ability to reject disturbance torques in all directions while counteracting the effect of a failure in any of its motors. The method proposed is simpler than previous solutions, because it does not require change of...

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Autores principales: Giribet, Juan I., Sanchez-Peña, Ricardo, Ghersin, Alejandro S.
Formato: Artículo de Publicación Periódica
Lenguaje:Inglés
Publicado: IEEE 2023
Materias:
ANTENAS
VEHICULOS AEREOS NO TRIPULADOS
TOLERANCIA A FALLOS
SISTEMAS DE CONTROL
Acceso en línea:https://ri.itba.edu.ar/handle/123456789/4198
Aporte de:
Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA) de Instituto Tecnológico de Buenos Aires (ITBA)
id I32-R138-123456789-4198
record_format dspace
spelling I32-R138-123456789-41982023-07-03T03:00:27Z Analysis and design of a tilted rotor hexacopter for fault tolerance Giribet, Juan I. Sanchez-Peña, Ricardo Ghersin, Alejandro S. ANTENAS VEHICULOS AEREOS NO TRIPULADOS TOLERANCIA A FALLOS SISTEMAS DE CONTROL A proof is presented of how a hexagon-shaped hexacopter can be designed to keep the ability to reject disturbance torques in all directions while counteracting the effect of a failure in any of its motors. The method proposed is simpler than previous solutions, because it does not require change of the motor rotation direction or in-flight mechanical reconfiguration of the vehicle. It consists of tilting the rotor a small fixed angle with respect to the vertical axis. Design guidelines are presented to calculate the tilt angle to achieve fault-tolerant attitude control without losing significant vertical thrust. It is also formally proved that the minimum number of unidirectional rotating motors needed to have fault tolerance is 6 and that this can be achieved by tilting their rotors. This proof is essentially a control allocation analysis that recovers in a simple way a result already known: the standard configuration (without tilting the motors) is not fault tolerant. A simulation example illustrates the theory. 2023-06-30T14:45:53Z 2023-06-30T14:45:53Z 2016 Artículo de Publicación Periódica J. I. Giribet, R. S. Sanchez-Pena and A. S. Ghersin, "Analysis and design of a tilted rotor hexacopter for fault tolerance," in IEEE Transactions on Aerospace and Electronic Systems, vol. 52, no. 4, pp. 1555-1567, August 2016, doi: 10.1109/TAES.2016.140885. https://ri.itba.edu.ar/handle/123456789/4198 en application/pdf IEEE
institution Instituto Tecnológico de Buenos Aires (ITBA)
institution_str I-32
repository_str R-138
collection Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA)
language Inglés
topic ANTENAS
VEHICULOS AEREOS NO TRIPULADOS
TOLERANCIA A FALLOS
SISTEMAS DE CONTROL
spellingShingle ANTENAS
VEHICULOS AEREOS NO TRIPULADOS
TOLERANCIA A FALLOS
SISTEMAS DE CONTROL
Giribet, Juan I.
Sanchez-Peña, Ricardo
Ghersin, Alejandro S.
Analysis and design of a tilted rotor hexacopter for fault tolerance
topic_facet ANTENAS
VEHICULOS AEREOS NO TRIPULADOS
TOLERANCIA A FALLOS
SISTEMAS DE CONTROL
description A proof is presented of how a hexagon-shaped hexacopter can be designed to keep the ability to reject disturbance torques in all directions while counteracting the effect of a failure in any of its motors. The method proposed is simpler than previous solutions, because it does not require change of the motor rotation direction or in-flight mechanical reconfiguration of the vehicle. It consists of tilting the rotor a small fixed angle with respect to the vertical axis. Design guidelines are presented to calculate the tilt angle to achieve fault-tolerant attitude control without losing significant vertical thrust. It is also formally proved that the minimum number of unidirectional rotating motors needed to have fault tolerance is 6 and that this can be achieved by tilting their rotors. This proof is essentially a control allocation analysis that recovers in a simple way a result already known: the standard configuration (without tilting the motors) is not fault tolerant. A simulation example illustrates the theory.
format Artículo de Publicación Periódica
author Giribet, Juan I.
Sanchez-Peña, Ricardo
Ghersin, Alejandro S.
author_facet Giribet, Juan I.
Sanchez-Peña, Ricardo
Ghersin, Alejandro S.
author_sort Giribet, Juan I.
title Analysis and design of a tilted rotor hexacopter for fault tolerance
title_short Analysis and design of a tilted rotor hexacopter for fault tolerance
title_full Analysis and design of a tilted rotor hexacopter for fault tolerance
title_fullStr Analysis and design of a tilted rotor hexacopter for fault tolerance
title_full_unstemmed Analysis and design of a tilted rotor hexacopter for fault tolerance
title_sort analysis and design of a tilted rotor hexacopter for fault tolerance
publisher IEEE
publishDate 2023
url https://ri.itba.edu.ar/handle/123456789/4198
work_keys_str_mv AT giribetjuani analysisanddesignofatiltedrotorhexacopterforfaulttolerance
AT sanchezpenaricardo analysisanddesignofatiltedrotorhexacopterforfaulttolerance
AT ghersinalejandros analysisanddesignofatiltedrotorhexacopterforfaulttolerance
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