A health performance evaluation method of multirotors under wind turbulence
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ORIGINAL PAPER
A health performance evaluation method of multirotors under wind turbulence Zhiyao Zhao · Xiaoyi Wang Yuting Bai
· Peng Yao ·
Received: 27 May 2020 / Accepted: 17 October 2020 © Springer Nature B.V. 2020
Abstract As an unmanned system, the multirotor has gained widespread attention in practical aviation engineering, because of its ease of use, reliability and maintainability. From the perspective of flight reliability and safety, it is significant and essential for a multirotor to detect anomaly occurrences and evaluate the realtime health performance status in a timely manner. Considering the limitations in the modeling of multirotor dynamics and the state estimation of existing methods, a health performance evaluation method of multirotors under wind turbulence is proposed in this paper. First, a stochastic hybrid system (SHS)-based model is established to describe the dynamic behavior of the multirotor, where the flight dynamics, external disturbances due to wind turbulence, and dynamics of discrete modes are included. The real-time probability distribution of the hybrid state of the SHS-based multirotor model is obtained by a modified interacting Z. Zhao · X. Wang (B) · Y. Bai School of Artificial Intelligence and China Light Industry Key Laboratory of Industrial Internet and Big Data, Beijing Technology and Business University, No. 11/33 Fucheng Road, Haidian District, Beijing 100048, China e-mail: [email protected] Z. Zhao e-mail: [email protected] Y. Bai e-mail: [email protected] P. Yao College of Engineering, Ocean University of China, Qingdao 266100, China e-mail: [email protected]
multiple model particle filter algorithm. Based on this, the real-time overall health performance status of the multirotor during flight is quantitatively evaluated by the classical health degree and the fuzzy health degree as indicators. Finally, a multirotor suffering from different types of sensor anomalies is simulated to demonstrate the availability and effectiveness of the proposed method. Keywords Health performance evaluation · Multirotor · Interacting multiple model · Particle filter · Health degree
1 Introduction The multirotor is a vertical take-off and landing unmanned aerial vehicle (UAV). As an unmanned system, it has been widely used in practical engineering due to its ease of use, reliability and maintainability [1]. From the perspective of flight reliability and safety, an anomaly or fault in any part of a multirotor, such as airframe damage and sensor or actuator faults, may lead to catastrophic disasters [2,3]. Therefore, it has theoretical significance and engineering value for a multirotor to detect anomalies and evaluate the in-situ health performance status in a timely manner. System health is a combined good condition of all the components and their interactions [4]. It reflects the extent of system performance degradation or deviation from an expected normal condition [5]. Prognostics and Health Man-
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agement (PHM) technologies use observation signals,
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