Đang chuẩn bị nút TẢI XUỐNG, xin hãy chờ
Tải xuống
It is important to have speed control of motors on UAVs since the system dynamics are related to the rotation speed of the motors. This paper presents a sensorless phase voltage detection scheme to measure the rotation speed. A PID controller is implemented to ensure the performance of the motors. A mathematical model of Delta-Connected BLDC motors is built for analyzing the relationship between phase voltage and rotation speed. | Journal of Automation and Control Engineering Vol. 3, No. 4, August 2015 Closed Loop Speed Control of Miniature Brushless DC Motors H. L. Chan and K. T. Woo Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China Email: {hlchanab, eetim}@ust.hk A sensorless approach for implementing a closed loop control for miniature BLDC motors on UAVs is proposed in this paper. The phase voltage of the motors is passed to circuitry which is able to convert the fast changing phase voltage signals into rotation speed information. The circuitry can be divided into three parts: filtering, converting and measuring. After getting the current rotation speed of the motors, a PID controller is added to minimize the deviation of the speed with respect to the reference level. This paper is organized as follows: the modeling of a Delta-Connected type BLDC motor is presented in Section II. In Section III, the methodologies of both speed measurement scheme and speed controller are presented. In Section IV, the implementation and experimental results of the sensorless speed measurement scheme will be covered, while Section V will present the implementation and corresponding results of speed. Finally the conclusion is presented in Section VI. Abstract—Three-phase miniature brushless DC (BLDC) motors are very popular on small Unmanned Aerial Vehicles (UAVs). Due to the shape and size limitation, it is hard to install devices like optical encoders for implementing a closed loop speed control. It is important to have speed control of motors on UAVs since the system dynamics are related to the rotation speed of the motors. This paper presents a sensorless phase voltage detection scheme to measure the rotation speed. A PID controller is implemented to ensure the performance of the motors. A mathematical model of Delta-Connected BLDC motors is built for analyzing the relationship between phase voltage and rotation speed. The experimental
