抄録
With the development of research on UAVs and widely using. The safety and reliability of the UAV system become more and more important. As a complex system, multi-rotor UAVs are equipped with variety of sensors, such as Gyro sensor, GPS, IMU, pressure sensor and so on. At the same time, because of the characteristic which multi-rotor UAV is provided with multiple propulsion parts. The risk of motor and rotor failure is higher than single rotor helicopter. As the above reasons, sensor failure and propulsion failure are considered the most primary failure of multi-rotor UAVs. This paper is fixed on motor, motor drive and rotor failure detection and the control allocation problem under motor stopped.
