期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 26, 期 3, 页码 1501-1511出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2020.3022379
关键词
Propellers; Brushless motors; Permanent magnet motors; Unmanned aerial vehicles; Shape; Rotors; Torque; Aircraft propulsion; energy efficiency; motor drives; sensorless control; unmanned aerial vehicles
This article introduces an easy-to-implement sensorless controller for regulating UAV propellers, comparing different motor control architectures and highlighting the advantages of sensorless FOC. It integrates a new observer into a nested FOC architecture for accurate rotor position reconstruction, demonstrating effective time-varying speed tracking in experiments. The features of efficiency, accuracy, and simplicity may pave the way for high-performance, robust sensorless UAV controllers in the future.
In this article, we introduce an easy-to-implement sensorless controller specifically designed for the regulation of the propellers of unmanned aerial vehicles (UAVs). As motivation, we present a comparison of the usual motor control architectures, i.e., field-oriented control (FOC) and brushless DC (BLDC) control, with special attention to the typical back-electromotive force shapes found in this application. In particular, we show that the adoption of sensorless FOC provides several advantages, both from the efficiency and the signal quality viewpoints, provided that accurate rotor position reconstruction is available. Therefore, a recently proposed observer is integrated into a nested FOC architecture, with formal stability guarantees and low computational effort, making the resulting strategy suitable for implementation in embedded computing systems. The algorithm is then compared experimentally to a sensorless BLDC controller and a high-end commercial drive, thus validating the previous results and showing effective time-varying speed tracking, as required for precise aggressive maneuvering. These features of efficiency, accuracy, and simplicity might prove instrumental in bolstering the introduction of a novel class of high-performance, robust UAV sensorless controllers in the forthcoming years.
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