Model-based health-monitoring of an electro-mechanical actuator for unmanned aerial system flight controls

The paper deals with the development and the performance characterization of model-based health-monitoring algorithms for the detection of faults in an electro-mechanical flight control actuator for unmanned aerial system flight controls. Two real-time executable position-tracking algorithms, based on predictors with different levels of complexity, are developed and compared in terms of false alarms rejection and fault-detection capabilities, by using a high-fidelity model of the actuator. The algorithms' performances are evaluated by simulating severe flight manoeuvres, with the actuator in normal condition and with relevant faults (motor coil faults, motor magnet degradation, voltage supply decrease). The results demonstrate that an efficient health-monitoring management can be obtained by using an accurate position-tracking monitor for prompt fault-detection and fail-safe mode engagement, and additional actuator monitors for fault-isolation only.