Motor speed estimation and failure detection of a smallUAVusing density ofmaxima∗

This work presents the application of the technique named signal analysis based on chaos using density of maxima to analyze brushless direct current motors. It uses a correlation coefficient estimated from the density of maxima of the current signal. This study demonstrates in experiments the speed estimation of a brushless motor on a testbench and failure detection in a small flying drone. The experimental results demonstrate that it is possible to estimate the speed in 97.8% of the cases and to detect failure in 82.75% of the analyzed cases.