Real-Time Identification of Faulty Systems: Development of an Aerial Platform with Emulated Rotor Faults

摘要

The development of an aerial platform with the emulation of rotor faults is presented. An H-frame quadcopter design with a Pixhawk flight controller and a modified Ar-duCopter software has been developed. The implementation of a rotor fault emulation algorithm, flight dynamics model with flapping dynamics and sequential system identification maneuvers has been verified in a simulation-in-the-Ioop (SITL) real-time desktop environment. The response of the PID controllers was analysed through the identification maneuvers once a rotor fault occurred. It was observed that PID controllers are susceptible to integrator windup due to the deterioration of the motor-propeller slip condition. This identification method has shown that it is able to function alongside the main flight controller code without compromising the execution of a programmed mission.