冗長性を活用したVTOL機の故障検出と復旧
VTOL Failure Detection and Recovery by Utilizing Redundancy
ハイブリッドVTOL機のアクチュエータ故障をリアルタイムで検出し、機体の冗長性を活かした最適化ベースの制御配分で復旧するフェイルセーフシステムを提案し、シミュレーションと実機実験で検証した。
著者: Mohammadreza Mousaei, Azarakhsh Keipour, Junyi Geng, Sebastian Scherer
分類: cs.RO
原文アブストラクト
Offering vertical take-off and landing (VTOL) capabilities and the ability to travel great distances are crucial for Urban Air Mobility (UAM) vehicles. These capabilities make hybrid VTOLs the clear front-runners among UAM platforms. On the other hand, concerns regarding the safety and reliability of autonomous aircraft have grown in response to the recent growth in aerial vehicle usage. As a result, monitoring the aircraft status to report any failures and recovering to prevent the loss of control when a failure happens are becoming increasingly important. Hybrid VTOLs can withstand some degree of actuator failure due to their intrinsic redundancy. Their aerodynamic performance, design, modeling, and control have all been addressed in the previous studies. However, research on their potential fault tolerance is still a less investigated field. In this workshop, we will present a summary of our work on aircraft fault detection and the recovery of our hybrid VTOL. First, we will go over our real-time aircraft-independent system for detecting actuator failures and abnormal behaviors. Then, in the context of our custom tiltrotor VTOL aircraft design, we talk about our optimization-based control allocation system, which utilizes the vehicle's configuration redundancy to recover from different actuation failures. Finally, we explore the ideas of how these parts can work together to provide a fail-safe system. We present our simulation and real-life experiments.
