Research Of Six-Rotor Helicopter Fail-Safe System

In recent years, the multi-rotor helicopter type Unmanned Air Vehicles (UAVs) are widely used in our daily life. Such as an earthquake or an accident occurs and a poisonous (gas, radiation and medicine. etc) exists, It is very difficult to access the spaces. Moreover, in buildings, high place. etc. It can be difficult for a person enter easily. As these examples illustration it is often very useful if a flying robot can monitor dangerous or low accessibility areas with a camera and various sensors. It could enter narrow spaces and reach the target position. In addition, there types of robots could also be used for rescue operation and preventing secondary disasters. Research on UAVs for surveillance and gathering information has been conducted recently and, more and more results are reported.With the development of research on UAVs and widely using. The safety and reliability of the UAV system become more and more important. As a complex system, multi-rotor UAVs are equipped with variety of sensors, such as Gyro sensor, GPS, IMU, pressure sensor and so on. At the same time, because of the characteristic which multi-rotor UAV is provided with multiple propulsion parts. The risk of motor and rotor failure is higher than single rotor helicopter. As the above reasons, sensor failure and propulsion failure are considered the most primary failure of multi-rotor UAVs. This paper is fixed on motor, motor drive and rotor failure detection and the control allocation problem under motor stopped.