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Vertical modeling of a quadcopter for mass estimation and diagnosis purposes
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0003-3498-3204
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-1971-4295
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
2017 (English)In: 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), 2017Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017.
Keyword [en]
payload, modeling, quadcopter, fault detection and isolation
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-141883DOI: 10.1109/RED-UAS.2017.8101665ISBN: 978-1-5386-0939-2 (electronic)ISBN: 978-1-5386-0940-8 (print)OAI: oai:DiVA.org:liu-141883DiVA: diva2:1148624
Conference
Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS, Linköping, Sweden, 3-5 October, 2017
Projects
MarineUAS
Funder
EU, Horizon 2020, 642153
Note

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.

Available from: 2017-10-11 Created: 2017-10-11 Last updated: 2017-12-11Bibliographically approved

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Linder, JonasHendeby, GustafEnqvist, Martin

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