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Authors: Adam Bondyra ; Przemysław Ga̧sior ; Stanisław Gardecki and Andrzej Kasiński

Affiliation: Institute of Control, Robotics and Information Engineering, Poznan University of Technology, Piotrowo 3A, Poznan and Poland

ISBN: 978-989-758-321-6

Keyword(s): Multirotor UAV, Fault Detection, Propeller Damage, Vibration Analysis, Random Decision Trees.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Machine Learning in Control Applications ; Robotics and Automation ; Surveillance

Abstract: In this paper, a fault detection and isolation (FDI) system for propeller impairments of the multirotor UAV is presented. The algorithm is based on the processing of signal vectors from the set of vibration sensors located close to the propulsion units. Axial and radial vibrations are measured using MEMS accelerometers that provide data for the feature extraction based on the Fast Fourier Transform (FFT). Characteristic fault signatures extracted from vibration signals are used to detect and localize damaged blades using the set of random decision trees. A method was evaluated with data gathered during numerous test flights and validated in relation to signal acquisition time and number of classifiers in the ensemble. Results show over 95% sensitivity in detecting and isolating faulty rotor states. The presented approach is an effective and low-cost solution, very versatile to implement in the arbitrary UAV.

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Paper citation in several formats:
Bondyra, A.; Gąsior, P.; Gardecki, S. and Kasiński, A. (2018). Development of the Sensory Network for the Vibration-based Fault Detection and Isolation in the Multirotor UAV Propulsion System.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 102-109. DOI: 10.5220/0006846801120119

@conference{icinco18,
author={Adam Bondyra. and Przemysław Gąsior. and Stanisław Gardecki. and Andrzej Kasiński.},
title={Development of the Sensory Network for the Vibration-based Fault Detection and Isolation in the Multirotor UAV Propulsion System},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={102-109},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006846801120119},
isbn={978-989-758-321-6},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Development of the Sensory Network for the Vibration-based Fault Detection and Isolation in the Multirotor UAV Propulsion System
SN - 978-989-758-321-6
AU - Bondyra, A.
AU - Gąsior, P.
AU - Gardecki, S.
AU - Kasiński, A.
PY - 2018
SP - 102
EP - 109
DO - 10.5220/0006846801120119

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