Sliding-mode control method for motor of quadrotor unmanned aerial vehicle

A quadrotor unmanned aerial vehicle and quadrotor unmanned technology, applied in the direction of electronic commutation motor control, single motor speed/torque control, control system, etc., can solve the problems of few specialized researches on actuator motor control

Active Publication Date: 2017-05-10
TIANJIN UNIV
View PDF3 Cites 6 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Quadrotor UAV is a typical underactuated and strongly coupled nonlinear system. Research mainly focuses on the use of nonlinear control algorithms to achieve precise control of the UAV's attitud

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Sliding-mode control method for motor of quadrotor unmanned aerial vehicle
  • Sliding-mode control method for motor of quadrotor unmanned aerial vehicle
  • Sliding-mode control method for motor of quadrotor unmanned aerial vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0077] The technical problem to be solved by the present invention is to provide a closed-loop BLDC (brushless DC motor) control method based on SMC (sliding mode robust control), improve the response speed and anti-interference ability of the motor, and realize the control of the rotor type UAV. precise control.

[0078] The technical solution adopted in the present invention is: establish the mathematical model of the brushless DC motor of the four-rotor UAV, calculate the zero-crossing point of the counter electromotive force by collecting the three-phase terminal voltage values ​​of the motor, and realize the sensorless driving of the motor; The speed information is obtained by commutation time, and the SMC controller is used to realize the closed-loop speed control.

[0079] The described mathematical model of setting up the brushless DC motor is:

[0080] Assuming that the resistance values ​​of the three-phase windings of the stator are all equal, the self-inductance o...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a nonlinear control method for a brushless DC motor, provides an SMC (Sliding Mode Robust Control) based closed-loop BLDC (Brushless DC motor) control method which improves the response speed and the anti-interference ability of the motor and realizes accurate control for a rotor type unmanned aerial vehicle. The technical scheme adopted by the sliding-mode control method for a motor of a quadrotor unmanned aerial vehicle motor is that a mathematical model of a brushless DC motor of the quadrotor unmanned aerial vehicle is built, a zero crossing point of a back electromotive force is calculated through collecting three-phase terminal voltage values of the motor, and sensorless driving for the motor is realized; and rotating speed information is acquired according to commutation time of the motor, and closed-loop speed regulation control is realized by adopting an SMC controller. The sliding-mode control method is mainly applied to design and manufacturing occasions of brushless DC motor equipment.

Description

technical field [0001] The invention relates to a nonlinear control method of a DC brushless motor, and mainly relates to a control method for a DC brushless motor applied to a quadrotor unmanned aerial vehicle. Background technique [0002] In recent years, research on the control of quadrotor UAVs has become a research hotspot among scholars at home and abroad. Quadrotor UAV is a typical underactuated and strongly coupled nonlinear system. Research mainly focuses on the use of nonlinear control algorithms to achieve precise control of the UAV's attitude and position information, but less on the control of motors as actuators. There are specialized studies. The ability of the motor to quickly and accurately track the output of the controller, as well as the effective anti-disturbance performance are also key factors for the precise control of the quadrotor UAV. [0003] Researchers at the University of Alabama used a sliding mode observer to observe unknown disturbances i...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): H02P6/08H02P6/182H02P6/34
CPCH02P6/08H02P6/182
Inventor 鲜斌查君浩
Owner TIANJIN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap