Adaptive closed-loop speed control of BLDC motors with applications to multi-rotor aerial vehicles
Adaptive closed-loop speed control of BLDC motors with applications to multi-rotor aerial vehicles
复制标题
DOI：
10.1109/icra.2017.7989610
复制
发表时间：
2017-05
期刊：
影响因子：
--
通讯作者：
A. Franchi;A. Mallet
中科院分区：
文献类型：
--
作者：
A. Franchi;A. Mallet
介绍了用于多旋翼飞行器螺旋桨旋转的无刷直流电机的自适应偏置和自适应增益(ABAG)算法。ABAG算法是自适应和稳健的，因为它不需要知道电机/螺旋桨组的任何机械/电气参数，也不需要预校准或前馈/标称输入的知识。ABAG算法适用于极低复杂度的实现。实验证明，它可以在8 MHz微控制器上以27.5MHZ的速度运行，没有浮点单元，运算能力有限，只允许8位的加、减、乘运算。除了控制器的实现，我们还提出了一个独立的开源软件体系结构，它处理整个速度控制过程，包括时钟同步、过流和阻塞安全。实验测试和空中物理干扰实验表明，ABAG具有良好的性能和健壮性。
This paper introduces the adaptive bias and adaptive gain (ABAG) algorithm for closed-loop electronic speed control (ESC) of the brushless direct current (BLDC) motors typically used to spin the propellers in multi-rotor aerial robots. The ABAG algorithm is adaptive and robust in the sense that it does not require the knowledge of any mechanical/electrical parameter of the motor/propeller group and that neither a pre-calibration nor the knowledge of the feedforward/nominal input is needed. The ABAG algorithm is amenable to an extremely low complexity implementation. We experimentally prove that it can run in 27.5 μ» on a 8 MHz microcontroller with no floating point unit and limited arithmetic capabilities allowing only 8-bit additions, subtractions and multiplications. Besides the controller implementation we present a self-contained open source software architecture that handles the entire speed control process, including clock synchronization, and over-current and blockage safeties. The excellent performance and robustness of ABAG are shown by experimental tests and aerial physical interaction experiments.