Hexacopter UAV의 대칭성을 고려한 확장 칼만 필터 기반 구동기 고장 진단 및 대응

다국어 초록 (Multilingual Abstract)

In this study, we used the extended Kalman filter to perform actuator fault diagnosis and develop a corresponding counterplan based on the symmetry of a hexacopter unmanned aerial vehicle. A dynamic model of a hexacopter, containing six degrees of freedom and incorporating the actuator faults, was developed. Next, an extended Kalman filter was designed to estimate the efficiency coefficient of each actuator in real-time. These estimated coefficients were used to perform fault diagnosis and propose an antifault counterplan, along with a residual, based on the symmetry of the thrust generation. Finally, the applicability of the proposed approach was validated through numerical simulations of the hexacopter dynamics.

목차 (Table of Contents)

• Abstract
• I. 서론
• II. 고장 모델 정의
• III. 구동기 고장 대응 기법
• IV. 시뮬레이션
• V. 결론
• REFERENCES

참고문헌 (Reference)

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