An Attitude Stabilization Method for Quadrotor Helicopter Using Brushless Motors

2013 ◽  
Vol 427-429 ◽  
pp. 433-437 ◽  
Author(s):  
Fang Jing ◽  
Li Ning Tan ◽  
Di Wang ◽  
Ting Ting Zhang
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Nonlinear Modeling ◽  
Brushless Motors ◽  
Attitude Stabilization ◽  
Quadrotor Helicopter ◽  
Stabilization Control ◽  
Helicopter Flight ◽  
Brushless Motor ◽  
New Strategy

It is an important practical design problem for control system design of quadrotor helicopters with accurately actuator modeling, which is not mentioned in many previous works. In order to improve the performance of attitude stabilization control system, a new strategy is proposed in this paper. This control strategy is based on the accurately nonlinear modeling of the brushless motors using the Hammerstein series models. Furthermore the identification method to obtain such models from observed input-output data is presented. After models of four brushless motor are obtained, a backstepping attitude controller is designed to stabilize the quadrotor helicopter. Flight experiments show that the proposed control strategy can achieve higher performance than past ones.

scholarly journals Attitude stabilization control for quadrotor using self-tuning fuzzy-PD

2020 ◽  
Vol 8 (2) ◽  
pp. 164-170
Author(s):  
Sumardi Sumardi ◽  
Hadha Afrisal ◽  
Wisnu Dyan Nugroho
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Absolute Error ◽  
Control Technique ◽  
Six Degrees Of Freedom ◽  
Attitude Stabilization ◽  
Stabilization Control ◽  
Self Tuning ◽  
Maximum Absolute Errors ◽  
Fuzzy Pd

This research aims to develop a quadrotor control system for maintaining its position and balance from disturbance while hovering. A fast and reliable control technique is required to respond to high maneuverability and high non-linearity of six degrees of freedom system. Hence, this research focuses on designing a Self-Tuning Fuzzy-PD control system for quadrotor’s attitude. The designed control system utilizes input data from the Inertial Navigation System (INS). Then the quadrotor’s attitude is controlled by passing the PWM signal to the flight controller APM 2.6. The result shows that the average absolute error for the roll, pitch, and yaw angles are relatively small, as mentioned consecutively 2.0790, 2.2660, and 1.5280, while the maximum absolute errors are 6.3140, 6.7220, and 3.820.

Servo Motor Control System and Method of Auto-Detection of Types of Servo Motors

2014 ◽  
Vol 496-500 ◽  
pp. 1510-1515
Author(s):  
Hao Ming Zhang ◽  
Lian Soon Peh ◽  
Ying Hai Wang
Keyword(s):  
Motor Control ◽  
Control System ◽  
Robotic Systems ◽  
Servo Motor ◽  
Brushless Motors ◽  
Brushless Motor ◽  
Three Phase ◽  
Different Types ◽  
Motor Control System

Mixture of DC brushed motors and DC three-phase brushless motors has been employed in complicated robotic systems, in order to control different types of motors may using commercial chipsets. Although these commercial chipsets are capable of driving different types of motors, the users are required to define the type of motors they are controlling through software. Defining the type of motors wrongly may damage the motors. Moreover, if a motor is replaced by another type, users would need to modify the software. The paper provides an auto-detection module that can be employed in a servo motor control system with a hybrid commutation control, wherein the hybrid commutation control can drive either a DC brushed motor or a DC brushless motor.

scholarly journals A Unified Control Strategy of Distributed Generation for Grid-Connected and Islanded Operation Conditions Using an Artificial Neural Network

2021 ◽  
Vol 13 (11) ◽  
pp. 6388
Author(s):  
Karim M. El-Sharawy ◽  
Hatem Y. Diab ◽  
Mahmoud O. Abdelsalam ◽  
Mostafa I. Marei
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Control System ◽  
Distributed Generation ◽  
Control Strategy ◽  
Current Control ◽  
Operating Conditions ◽  
Pi Controllers ◽  
Artificial Neural ◽  
The Stability

This article presents a control strategy that enables both islanded and grid-tied operations of a three-phase inverter in distributed generation. This distributed generation (DG) is based on a dramatically evolved direct current (DC) source. A unified control strategy is introduced to operate the interface in either the isolated or grid-connected modes. The proposed control system is based on the instantaneous tracking of the active power flow in order to achieve current control in the grid-connected mode and retain the stability of the frequency using phase-locked loop (PLL) circuits at the point of common coupling (PCC), in addition to managing the reactive power supplied to the grid. On the other side, the proposed control system is also based on the instantaneous tracking of the voltage to achieve the voltage control in the standalone mode and retain the stability of the frequency by using another circuit including a special equation (wt = 2πft, f = 50 Hz). This utilization provides the ability to obtain voltage stability across the critical load. One benefit of the proposed control strategy is that the design of the controller remains unconverted for other operating conditions. The simulation results are added to evaluate the performance of the proposed control technology using a different method; the first method used basic proportional integration (PI) controllers, and the second method used adaptive proportional integration (PI) controllers, i.e., an Artificial Neural Network (ANN).

scholarly journals Research on an Improved Sliding Mode Sensorless Six-Phase PMSM Control Strategy Based on ESO

Electronics ◽  
2021 ◽  
Vol 10 (11) ◽  
pp. 1292
Author(s):  
Hanying Gao ◽  
Guoqiang Zhang ◽  
Wenxue Wang ◽  
Xuechen Liu
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Sliding Mode ◽  
High Reliability ◽  
Permanent Magnet Synchronous Motor ◽  
Torque Ripple ◽  
Estimation Accuracy ◽  
Switching Function ◽  
Motor Speed ◽  
Rotor Position

The six-phase motor control system has low torque ripple, low harmonic content, and high reliability; therefore, it is suitable for electric vehicles, aerospace, and other applications requiring high power output and reliability. This study presents a superior sensorless control system for a six-phase permanent magnet synchronous motor (PMSM). The mathematical model of a PMSM in a stationary coordinate system is presented. The information of motor speed and position is obtained by using a sliding mode observer (SMO). As torque ripple and harmonic components affect the back electromotive force (BEMF) estimated value through the traditional SMO, the function of the frequency-variable tracker of the stator current (FVTSC) is used instead of the traditional switching function. By improving the SMO method, the BEMF is estimated independently, and its precision is maintained under startup or variable-speed states. In order to improve the estimation accuracy and resistance ability of the observer, the rotor position error was taken as the disturbance term, and the third-order extended state observer (ESO) was constructed to estimate the rotational speed and rotor position through the motor mechanical motion equation. Finally, the effectiveness of the method is verified by simulation and experiment results. The proposed control strategy can effectively improve the dynamic and static performance of PMSM.

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