Actuator fault diagnosis for rotary-wing UAV

Consulta en la Biblioteca ETSI Industriales (Riunet)

[EN] The goal of this project is to derive an actuator fault diagnosis mechanism for a rotary-wing UAV, that lets the pilot knowing when there is a fault and eventually its estimated magnitude. The objective of using a detector is having a good knowledge of the vehicle’s status, to make a good decision about continuing operating the vehicle or not. First, a model of the system is derived in order to be able to estimate their outputs. Then, the measured outputs and the estimated ones are compared to obtain the residual signals that are insensitive to changes in the working point of the system but sensitive to changes in the physical system. The detection process is carried out by using a GLR test with each of the residual signals. Two different versions are tested, one estimating the set of parameters ˆ 0 recursively in the monitoring process and the other one estimating ˆ 0 off-line previous to the monitoring process, obtaining different results. ix