Single and diagonal double thrust failure assessment of quad-copter at starting

Abstract

This papers deals with the thrust failure assessment of quad-copter at starting. This has been achieved by performing stability and fault analysis of quad-rotor helicopter wherein PD and PID controllers used for analysis of an advanced nonlinear cross-coupled dynamic system at normal and fault conditions. Normal, single thrust and diagonal double thrust failure conditions have been introduced in the system. Response of the system has been studied for different types of reference input at normal as well as at both types of thrust failure conditions. Specific changes have been observed in output pattern due to the presence of fault. Based on comparative study, an algorithm has been proposed to verify whether the system is normal or suffering from thrust failure at starting. Practical validation of algorithm has been pursued to authenticate the effectiveness of the approach. As the test is performed at starting, it is less affected by external extremities.