Fault Tolerant Control System Design Of Mini UAV

Multi-rotor UAV, increasingly used in the fields of industrial and consumer-grade, open-world countries with low-level civil aviation, restrictions on low-altitude aircraft also increasingly stringent requirements for increasing high safety. Such small UAVs safety consists of two aspects: one is strict management operations personnel to improve their operational capacity to ensure the safety of the UAV at work; on the other hand is the use of stable performance control system, the design of fault-tolerant control system and other safety designed to ensure the reliability and safety of the UAS.In this paper, a small six-rotor UAV control system fault-tolerant design to improve the reliability of their control systems, including sensors fault-tolerant design, controllers fault-tolerant design and actuators fault-tolerant design。Fault tolerance principle analysis is carried out, the reliability of the normal contrl system and fault-tolerant systems were compared。At last,complete fault tolerance control system prototype design by using of consumer electronics devices.The sensor fault-tolerant design by physical redundant approach, simplifying the design in order to facilitate implementation. The controller fault-tolerant by selecting a microcontroller with power monitoring and watchdog design, a combination of software functions to achieve fault detection and isolation. The rotor drive system, fault detection using model-based approach, combined with control law design of multi-mode switching, to adapt the actuator failure. In this paper, provide a detailed modeling of the UAV and designed control algorithms. And then, we focused on the rotor control failure mode analysis, completed the mode switching control law design and gave some simulation.Design results show that by using the existing mechanical and electrical technology and microcontroller technology, to implement a small UAV fault-tolerant control system design, increase in system cost and weight slightly, but greatly improved reliability of the UAV system, and the feasibility by engineering is high.