螺旋桨故障情况下四旋翼飞机的紧急降落:基于PID的方法

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI:10.1109/SSRR.2014.7017647

V. Lippiello, Fabio Ruggiero, Diana Serra

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引用次数: 45

摘要

提出了一种处理四旋翼电机故障的控制器。假设系统已经检测到故障，将四旋翼飞行器建模为带固定螺旋桨的双旋翼飞行器，并控制其按照计划的紧急着陆轨迹飞行。理论表明，在这种构型下，飞行器可以到达笛卡尔空间中的任何位置，从而降低了控制偏航角的可能性。通过仿真验证了所提出的方法。

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Emergency landing for a quadrotor in case of a propeller failure: A PID based approach

A controller dealing with the failure of a quadrotor's motor is presented in this paper. Supposing that the failure has been already detected by the system, the quadrotor is modelled as a birotor with fixed propellers and it is controlled to follow a planned emergency landing trajectory. Theory shows that, in such a configuration, the aerial vehicle is allowed to reach any position in the Cartesian space dropping the possibility to control the yaw angle. Simulations are presented to confirm the presented methodology.

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来源期刊

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)

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