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

Carey, Kellen; Zimmerman, Nathan; Ababei, Cristinel

doi:10.1049/iet-pel.2018.5231

Cited by 42 publications

(14 citation statements)

References 27 publications

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“…A range of different control schemes are used to control BLDC motors used for multirotor UAVs [22]. This paper will review the two common methods used by commercial electronic speed controllers; direct torque control (DTC) and field-oriented control (FOC).…”

Section: Bldc Motor Control In High Magnetic Fieldsmentioning

confidence: 99%

“…This paper will review the two common methods used by commercial electronic speed controllers; direct torque control (DTC) and field-oriented control (FOC). More advanced controllers, such the hybrid DTC-FOC controller presented in [22], or those presented in [23], are not considered as the focus of this work is on understanding the performance of commercial-off-the-shelf (COTS) systems.…”

Section: Bldc Motor Control In High Magnetic Fieldsmentioning

confidence: 99%

“…Vector control algorithms such as direct torque control have been widely used and implemented in different commercial robotic and UAV architectures to control BLDC motors [22].…”

Section: Direct Torque Controlmentioning

confidence: 99%

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The Operation of UAV Propulsion Motors in the Presence of High External Magnetic Fields

et al. 2021

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The operation and maintenance of converter stations (also known as valve halls) in high voltage DC (HVDC) grids is a key element in long-term, reliable and stable operation, especially in inherently adverse offshore environments. However, the nature of the electromagnetic field environment inside HVDC valve halls presents a challenge for the operation of traditional off-shelf inspection robots. In this paper, the impact of the external magnetic field on the operation of an inspection UAV’s propulsion motors is assessed. An experimental method is proposed to simulate the maximum magnetic field interference to off-shelf UAV motors, which can be used to identify their suitability for use in HVDC valve halls inspection robots. The paper’s experimental results compare the performance of direct torque control and field-oriented control algorithms for propulsion motors under the influence of external magnetic flux. Under the influence of a 177 mT external magnetic field, it was found that using direct torque control, the motor rotational velocity steady-state error was up to 55%. With field-oriented control, the steady-state error was 0%, however the peak-to-peak current draw increased by up to 567%.

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Section: Bldc Motor Control In High Magnetic Fieldsmentioning

confidence: 99%

Section: Bldc Motor Control In High Magnetic Fieldsmentioning

confidence: 99%

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The Operation of UAV Propulsion Motors in the Presence of High External Magnetic Fields

et al. 2021

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“…A traditional six‐step commutation control usually works by using two of the three phases. The reasons for the occurrence of the commutation torque ripple have been investigated for 120° conduction mode and different strategies have been proposed and used to suppress it for the BLDC motors [1, 2].…”

Section: Introductionmentioning

confidence: 99%

Torque ripple suppression of brushless DC motor drives using an alternating two‐phase and three‐phase conduction mode

Kong

Song

et al. 2020

IET Power Electronics

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Commutation torque ripple is an important factor affecting the performance of brushless DC (BLDC) motor drives. In order to suppress this torque ripple, an alternating conduction control strategy between the two-phase and three-phase conduction mode has been proposed in this study. During the non-commutation periods, the conventional two-phase conduction mode is selected to drive the BLDC motor. While during the commutation period, the commutation torque ripple is reduced by employing an alternating two-phase and three-phase conduction mode. By calculating the duty cycle of the three-phase conduction mode, which indicates whether the rate of change in current in the incoming and outgoing phase is equal during the commutation interval, the commutation torque ripple is effectively reduced, while the current in the non-commutated phase is maintained constant. Simulation and experimental results show that the proposed method can suppress the commutation torque ripple efficiently, particularly at high rotational speeds of the motor.

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“…The operation performance and the robustness to load variation are improved, and the stable minimum speed reaches as low as 33r/min. In terms of the characteristic of the fieldoriented control and DTC, a hybrid control scheme is proposed for sensorless BLDCM in [20]. The proposed method has strong robustness against parameter uncertainties and is applicable in a wide speed range.…”

Section: Introductionmentioning

confidence: 99%

Commutation Torque Ripple Reduction for Brushless DC Motor Based on an Auxiliary Step-Up Circuit

et al. 2019

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There exists torque ripple in the commutation process of brushless DC motor (BLDCM), which seriously restricts its application in the high-performance field. This paper proposes an auxiliary step-up circuit to suppress the commutation torque ripple of BLDCM, and the auxiliary step-up circuit consists of a transformer, a capacitor and a switch circuit. For effective suppression of the commutation torque ripple, the capacitor is charged in the non-commutation period. When the commutation occurs, the charged capacitor is added on the power source through a switch circuit to step up the dc-bus voltage in the commutation period, and the three-phase inverter is regulated to make the motor's input voltage is equal to four times the back electromotive force (back EMF) amplitude. The auxiliary step-up circuit only transfers partial power required in the commutation process of the motor, and the capacity of the power components is reduced accordingly. The inductive energy stored in the transformer is returned to the power source in each switching cycle, which improves the energy utilization rate. In addition, this method can also shorten the commutation time. The validity and effectiveness of the proposed method is verified through experimental results.INDEX TERMS Brushless DC motor, commutation torque ripple, dc-bus voltage, commutation time.

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

Cited by 42 publications

References 27 publications

The Operation of UAV Propulsion Motors in the Presence of High External Magnetic Fields

The Operation of UAV Propulsion Motors in the Presence of High External Magnetic Fields

Torque ripple suppression of brushless DC motor drives using an alternating two‐phase and three‐phase conduction mode

Commutation Torque Ripple Reduction for Brushless DC Motor Based on an Auxiliary Step-Up Circuit

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