六旋翼无人机无刷电机耦合故障建模  

Study on the Modeling of Brushless Motor Coupling Faults in Hexacopter Unmanned Aerial Vehicles(UAV)

作　　者：周来宏 涂一菲 黄小英 何芳 金虹 曾林杰 Zhou Laihong;Tu Yifei;Huang Xiaoying;He Fang;Jin Hong;Zeng Linjie(School of Mechanical and Electrical Engineering,Xinyu University,Xinyu 338004;International Business School,Hainan University,Haikou 570228)

机构地区：[1]新余学院机电工程学院,江西新余338004 [2]海南大学国际商学院,海南海口570228

出　　处：《中阿科技论坛(中英文)》2025年第4期61-65,共5页China-Arab States Science and Technology Forum

基　　金：江西省教育厅科技计划项目(GJJ212320);新余市科技计划项目(21KJZD02);新余学院技术服务项目(HX24091)。

摘　　要：六旋翼无人机飞行的稳定性在很大程度上取决于无刷电机的稳定可靠运转。在实际运行中,无刷电机出现的卡死故障与失效故障会对无人机的飞行安全构成严重威胁。文章深入剖析了六旋翼无人机的飞行原理,并通过严谨的理论推导,建立了其运动学模型与动力学模型。在此基础上,文章对无刷电机的卡死故障和失效故障展开深入研究,并分别构建了这两种故障的精确数学模型,进一步考虑两种故障耦合的情况,通过分析旋翼升力与电压控制信号之间的关系,推导出电机卡死和失效故障的统一表达式及系统故障信息矩阵,最终建立了无刷电机耦合故障模型。The stability of a hexacopter UAVs largely hinges on the stable operation of the brushless motors.In actual operation,the jamming and failure of brushless motors pose a serious threat to the safety of UAVs.In view of this,the article examines the working principle of hexacopter UAVs and establishes its kinematic and dynamic models through rigorous theoretical derivation.On this basis,an in-depth research is conducted on the jamming and failure faults of brushless motors,and accurate mathematical models for these two types of faults are constructed.Then,a unified expression and a system fault information matrix were derived by analyzing the relationship between rotor lift and voltage control signals.Finally,a brushless motor coupling fault model was established.

关 键 词：六旋翼无人机 电机卡死故障 电机失效故障 耦合故障 故障建模 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置] V212.4[自动化与计算机技术—控制科学与工程]