Fault Detection and Performance Analysis for Quanser’s Two-rotor Helicopter under Different Fault Levels

Reliable and stable performance is a key requirement for controlling Unmanned Aerial Vehicles (UAVs). While traditional control systems are designed to ensure stable flight and safe operation, UAVs may encounter various flight faults that can degrade performance or even lead to instability. Poor performance or instability in a UAV can pose risks to lives, property, and the surrounding environment. Therefore, it is essential to develop a system capable of detecting faults, identifying their location and severity, and adjusting accordingly to ensure the UAV can continue to operate safely. Despite the importance of analyzing the effect of faults on the performance of UAVs in selecting the optimal detection and tolerance strategies, there has been limited research in this area, particularly with real systems. This study examines the performance of a 2-degree-of-freedom (2DOF) bi-rotor helicopter’s control system under various actuator faults, including different types of blade breaks and thicknesses. The analysis reveals how different fault conditions impact performance metrics, with faults leading to performance degradation and introducing vibrations into the system, particularly in cases of asymmetry or imbalance.