2A1-D02 6発ロータ型ヘリコプタのフェールセーフシステムに関する研究(飛行ロボット・メカトロニクス(1))

抄録

This paper presents a fail-safe system which is divided to two blocks of "diagnose" and "controller redesign" for 6-rotor helicopter(MS-06). The diagnose block is using model-based method to estimate the output of propulsion and used the algorithm to determine the failure of propulsion parts. And controller redesign block solve the control allocation problem with Pseudo-Inverse Solution to keep the 6-rotor helicopter flying under the propulsion parts failure.