In this work, 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 (back-EMF) 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.

A Computational-Effective Field-Oriented Control Strategy for Accurate and Efficient Electric Propulsion of Unmanned Aerial Vehicles

Bosso, Alessandro;Conficoni, Christian;Raggini, Davide;Tilli, Andrea
2021

Abstract

In this work, 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 (back-EMF) 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.
Bosso, Alessandro; Conficoni, Christian; Raggini, Davide; Tilli, Andrea
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/806492
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