Diseño de una controladora de vuelo para lograr tolerancia a fallas mejorada

Claudio Pose, Leonardo Garberoglio, Ezequiel Pecker-Marcosig, Ignacio Mas, Juan Giribet

Resumen


En los últimos años, los vehículos aéreos multirotores han ganado popularidad tanto en productos de consumo como en aplicaciones profesionales. La seguridad es una de las principales preocupaciones durante la operación y diferentes enfoques a la tolerancia a fallas se han propuesto y continúan desarrollándose. Para que un sistema de control maneje situaciones fuera de lo nominal, las fallas deben detectarse e identificarse adecuadamente, por lo tanto, se requiere un algoritmo de detección e identificación de fallas. Además, el lazo de control debe modificarse en consecuencia para hacer frente a cada falla de la mejor manera posible. Estos algoritmos generalmente se ejecutan en la computadora de vuelo de bajo nivel del vehículo, lo que le impone una gran carga computacional adicional. En este trabajo se utiliza un módulo de detección e identificación de fallas para evaluar su impacto en términos de tiempo de procesamiento adicional en una computadora de vuelo basada en el microcontrolador Cortex-M3. Si bien se puede ejecutar una versión altamente optimizada del algoritmo, aún sugiere posibles limitaciones de hardware para expandir las capacidades del sistema. La evaluación del mismo módulo en un diseño de computadora de vuelo mejorado basado en un microprocesador Cortex-M7 muestra una huella significativamente reducida en el rendimiento general, lo que permite agregar un método aumentado para una detección de fallas más rápida.

Palabras clave


Flight computer; Unmanned Aerial Vehicles; Fault Tolerance; Fault Detection and Identification

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DOI: https://doi.org/10.37537/rev.elektron.6.2.162.2022

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Copyright (c) 2022 Claudio Pose, Leonardo Garberoglio, Ezequiel Pecker-Marcosig, Ignacio Mas, Juan Giribet

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