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1887

access icon free Hybrid field oriented and direct torque control for sensorless BLDC motors used in aerial drones

© The Institution of Engineering and Technology
Received 06/04/2018, Accepted 20/11/2018, Revised 21/09/2018, Published 20/11/2018

In this study, a sensorless hybrid control scheme for brushless direct current (BLDC) motors for use in multirotor aerial vehicles is introduced. In such applications, the control scheme must satisfy high-performance demands for a wide range of rotor speeds and must be robust to motor parameter uncertainties and measurement noise. The proposed controller combines field-oriented control (FOC) and direct torque control (DTC) techniques to take benefit of the advantages offered by each of these techniques individually. Simulation results demonstrate the effectiveness of the proposed control scheme over a wide range of rotor speeds as well as good robustness against parameter uncertainties within for inductance and for resistance parameters. The proposed hybrid controller is robust also against noise in voltage and current measurements. In order to verify the results from simulation, the proposed hybrid controller is implemented in hardware using the TI C2000 Piccolo Launchpad and TI BOOSTXL-DRV8305EVM BoosterPack. Testing is done with a Bull Running motor typically used in aerial drones. Testing experiments demonstrate that the hybrid controller reduces the rotor speed ripple when compared to DTC while operating in steady-state mode and decreases the response time to desired speed changes when compared to FOC.

Inspec keywords: uncertain systems; torque control; continuous systems; discrete systems; machine vector control; robust control; brushless DC motors; sensorless machine control

Other keywords: sensorless hybrid control scheme; multirotor aerial vehicles; aerial drones; sensorless BLDC motors; field-oriented control; Bull Running motor; motor parameter uncertainties; direct torque control; hybrid controller; TI C2000 Piccolo Launchpad; TI BOOSTXL-DRV8305EVM BoosterPack; hybrid field oriented control; brushless direct current motors

Subjects: Control of electric power systems; Mechanical variables control; d.c. machines; Stability in control theory; Discrete control systems

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