四旋翼无人机桨尖缺损故障建模

Fault Modeling of Blade Tip Defect of a Quadrotor

摘要: 四旋翼无人机在工程应用中易发生桨尖缺损或断裂，这将直接影响四旋翼无人机推力的大小，造成四旋翼无人机飞行品质或性能的下降。故本文从机理上分析四旋翼无人机桨尖缺损这一执行机构故障所造成的影响，计算桨尖缺损后桨叶所能产生的实际推力，从而建立桨尖缺损故障的数学模型，为后续设计四旋翼无人机飞行控制策略提供基础。

Abstract: It is easy for the blade tip of quadrotor to have defect or fracture in real application. This would directly affect the generated thrust of quadrotor such that the flight quality or performance of quadrotor may be degraded. Therefore, the effect of blade tip defect, which is actually one kind of actuator faults, is analyzed from mechanism in this paper, and then the real generated thrust is calculated accordingly. Finally, the model of blade tip defect fault of quadrotor is obtained, which provides a foundation for designing the flight control scheme for quadrotor.