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Vertical modeling of a quadcopter for mass estimation and diagnosis purposes
Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska fakulteten.
Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska fakulteten.ORCID-id: 0000-0003-3498-3204
Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska fakulteten.ORCID-id: 0000-0002-1971-4295
Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska fakulteten.
2017 (engelsk)Inngår i: Proceedings of the Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS, Linköping, Sweden, 3-5 October, 2017, Institute of Electrical and Electronics Engineers (IEEE), 2017Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In this work, we estimate a model of the vertical dynamics of a quadcopter and explain how this model can be used for mass estimation and diagnosis of system changes. First, a standard thrust model describing the relation between the calculated control signals of the rotors and the thrust that is commonly used in literature is estimated. The estimation results are compared to those using a refined thrust model and it turns out that the refined model gives a significant improvement. The combination of a nonlinear model and closed-loop data poses some challenges and it is shown that an instrumental variables approach can be used to obtain accurate estimates. Furthermore, we show that the refined model opens up for fault detection of the quadcopter. More specifically, this model can be used for mass estimation and also for diagnosis of other parameters that might vary between and during missions.

sted, utgiver, år, opplag, sider
Institute of Electrical and Electronics Engineers (IEEE), 2017.
Emneord [en]
payload, modeling, quadcopter, fault detection and isolation
HSV kategori
Identifikatorer
URN: urn:nbn:se:liu:diva-141883DOI: 10.1109/RED-UAS.2017.8101665ISI: 000427383700032ISBN: 978-1-5386-0939-2 (digital)ISBN: 978-1-5386-0940-8 (tryckt)OAI: oai:DiVA.org:liu-141883DiVA, id: diva2:1148624
Konferanse
Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS, Linköping, Sweden, 3-5 October, 2017
Prosjekter
MarineUAS
Forskningsfinansiär
EU, Horizon 2020, 642153
Merknad

This project has received funding from the European Union's Horizon 2020 research and innovation programme under the Marie Sklodowska-Curie grant agreement No. 642153.

Tilgjengelig fra: 2017-10-11 Laget: 2017-10-11 Sist oppdatert: 2018-04-11bibliografisk kontrollert

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Linder, JonasHendeby, GustafEnqvist, Martin

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