This paper proposes an actuator fault detection algorithm for vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV), based on acceleration signals provided by a high-rate inertial measurement unit. The proposed algorithm is based on time and frequency-domain analysis of acceleration signals and features selection techniques in order to identify the most relevant frequencies of the spectrum and time-domain features involved in the occurrence of the fault. The testing of the algorithm is focused on the damage of a propeller blade and the effects of such damage during vertical take-off and landing, where all the lift is generated by the propellers. The algorithm is tested on real data acquired on the Songbird VTOL UAV [1]. The experimental results prove the possibility of using acceleration signals for diagnostic purposes on VTOL UAVs.

Fault detection of a vtol uav using acceleration measurements / Benini, A.; Ferracuti, F.; Monteriù, A.; Radensleben, S.. - ELETTRONICO. - (2019), pp. 3990-3995. (Intervento presentato al convegno 18th European Control Conference, ECC 2019 tenutosi a ita nel 2019) [10.23919/ECC.2019.8796198].

Fault detection of a vtol uav using acceleration measurements

Benini A.;Ferracuti F.;Monteriù A.;
2019-01-01

Abstract

This paper proposes an actuator fault detection algorithm for vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV), based on acceleration signals provided by a high-rate inertial measurement unit. The proposed algorithm is based on time and frequency-domain analysis of acceleration signals and features selection techniques in order to identify the most relevant frequencies of the spectrum and time-domain features involved in the occurrence of the fault. The testing of the algorithm is focused on the damage of a propeller blade and the effects of such damage during vertical take-off and landing, where all the lift is generated by the propellers. The algorithm is tested on real data acquired on the Songbird VTOL UAV [1]. The experimental results prove the possibility of using acceleration signals for diagnostic purposes on VTOL UAVs.
2019
978-3-907144-00-8
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11566/271321
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