论文标题
单电动机故障中旋转四轮驱动器的故障安全飞行
Fail-safe Flight of a Fully-Actuated Quadcopter in a Single Motor Failure
论文作者
论文摘要
在本文中，我们引入了一种新的四轮驱动器故障安全解决方案，即使单个推进器失败，也可以执行相同的四个可控制的自由度飞行作为常规多电流。新解决方案采用了一种新型的多电动平台，称为T3-Multirotor，并采用了一种独特的策略来主动控制重心位置的中心来恢复名义飞行性能。引入了专用的控制结构，以及对紧急飞行过程中更改平台的动态特征的详细分析。提供实验结果以验证拟议的故障安全飞行策略的可行性。
In this paper, we introduce a new quadcopter fail-safe flight solution that can perform the same four controllable degrees-of-freedom flight as a regular multirotor even when a single thruster fails. The new solution employs a novel multirotor platform known as the T3-Multirotor and utilizes a distinctive strategy of actively controlling the center of gravity position to restore the nominal flight performance. A dedicated control structure is introduced, along with a detailed analysis of the dynamic characteristics of the platform that change during emergency flights. Experimental results are provided to validate the feasibility of the proposed fail-safe flight strategy.
