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Sensors and Materials, Volume 31, Number 12(3) (2019)
Copyright(C) MYU K.K.
pp. 4173-4203
S&M2077 Research Paper of Special Issue
Published: December 26, 2019

How to Avoid a Multirotor Flight Crash under Complete Propeller Motor Failures Based on State Variable Approach [PDF]

Kaito Isogai, Hideo Nakano, and Hideaki Okazaki

(Received April 30, 2019; Accepted August 19, 2019)

Keywords: multirotor, flight states to avoid a crash, motor failure problem, Euler angle state variable approach, flight operating points

In this paper, how to obtain motor speed signals for multirotor flight states to avoid a crash in the case of complete motor failures based on the Euler angle state variable approach is explained. First, the mathematical foundation for a multirotor as a rigid body is introduced. Secondly, state equations, maneuvers, and flight states (or flight operating points) of multirotors are summarized. Thirdly, in the case of complete motor failures, definitions of the motor speed control signal vector of the remaining motors and a method of directly providing motor speed control signals to achieve flight states to avoid a crash are provided. Finally, the method is applied to the problem of a multirotor vehicle experiencing motor failures. Numerical simulation results are also illustrated. In addition, the mathematical backgrounds of the Euler angle state equations of the multirotor and the proposed method are precisely explained in the appendices.

Corresponding author: Kaito Isogai

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Cite this article
Kaito Isogai, Hideo Nakano, and Hideaki Okazaki, How to Avoid a Multirotor Flight Crash under Complete Propeller Motor Failures Based on State Variable Approach, Sens. Mater., Vol. 31, No. 12, 2019, p. 4173-4203.

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