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Controlo de motores de um drone
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| 6.07 MB | Adobe PDF |
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Abstract(s)
Os drones são cada vez mais utilizados em diversas aplicações, sendo o controlo dos motores de extrema importância para suster o drone durante o voo. Os motores mais comuns dos drone são os motores de corrente contínua com escovas e os motores de corrente contínua sem escovas (BLDC), estes últimos são, normalmente, os mais usados por não terem escovas. Neste trabalho desenvolveu-se um controlador de velocidade de um motor corrente contínua sem escovas equiparável a um controlador comercial. Começou-se por estudar a técnica mais utilizada no controlo velocidade de um motor, six-step commutation. Estudaram-se também outras técnicas avançadas de controlo de motores de corrente contínua sem escovas, como a técnica de controlo orientado ao campo, onde se aplica a mudança de referencial, para otimizar o desempenho. Com esta aplicou-se a técnica de modulação por largura de impulso e de controlo por modo de deslizamento. Aplicou-se uma análise teórica ao motor de corrente contínua sem escovas, ao circuito utilizado e às técnicas de controlo, desenvolvendo modelos que podem ser simulados diretamente na versão básica do MATLAB Simulink. Nas simulações verificou-se que com todas as técnicas conseguiu-se controlar a velocidade, mas obteve-se uma resposta mais rápida com a técnica do six-step commutation. Em simulação, verificou-se que as técnicas controlo orientado ao campo possuem um melhor desempenho que a técnica do six-step commutation. Experimentalmente, implementou-se um controlador de velocidade com a técnica do six-step commutation e comparou-se com um controlador comercial. Verificou-se que a gama de valores de velocidade que os dois podiam alcançar eram semelhantes. Durante a sequência de arranque o controlador implementado apresenta um tempo de resposta mais rápido que o comercial. Em regime estacionário o consumo do controlador implementado é comparável ao comercial.
Drones are increasingly used in various applications, and the control of the motor is of extreme importance to sustain the drone during the flight. The most common motors of the drones are the direct current with brushes and the brushless direct current (BLDC), the latter are the most commonly used, usually, because they do not have brushes. In this work a speed controller for a brushless direct current motor that is comparable to a commercial controller has been developed. We began by studying the technique is most used in the speed control of a motor, six-step commutation technique. We have also studied other advanced brushless direct current motor control techniques, field-oriented control technique, where referential change is applied, to optimize performance. With these, the pulse width modulation technique and sliding mode control were applied. A theoretical analysis was applied to the brushless direct current motor, to the circuit used and to the control techniques, leading to the development of models that could be simulated in MATLAB Simulink. In the simulations it was verified that all the techniques were able to control the speed, but a faster response was obtained with the technique of six-step commutation. In simulationws, it was verified that the field-oriented control techniques are more efficient than the six-step commutation technique. Experimentally, a speed controller was implemented with the technique of six-step commutation and compared with a commercial controller. It was verified that the range of velocity values that the two could achieve were similar. During the boot sequence the implemented controller has a faster response time than the commercial one. In steady state the consumption of the implemented controller is comparable to the commercial one.
Drones are increasingly used in various applications, and the control of the motor is of extreme importance to sustain the drone during the flight. The most common motors of the drones are the direct current with brushes and the brushless direct current (BLDC), the latter are the most commonly used, usually, because they do not have brushes. In this work a speed controller for a brushless direct current motor that is comparable to a commercial controller has been developed. We began by studying the technique is most used in the speed control of a motor, six-step commutation technique. We have also studied other advanced brushless direct current motor control techniques, field-oriented control technique, where referential change is applied, to optimize performance. With these, the pulse width modulation technique and sliding mode control were applied. A theoretical analysis was applied to the brushless direct current motor, to the circuit used and to the control techniques, leading to the development of models that could be simulated in MATLAB Simulink. In the simulations it was verified that all the techniques were able to control the speed, but a faster response was obtained with the technique of six-step commutation. In simulationws, it was verified that the field-oriented control techniques are more efficient than the six-step commutation technique. Experimentally, a speed controller was implemented with the technique of six-step commutation and compared with a commercial controller. It was verified that the range of velocity values that the two could achieve were similar. During the boot sequence the implemented controller has a faster response time than the commercial one. In steady state the consumption of the implemented controller is comparable to the commercial one.
Description
Keywords
BLDC Drone ESC FOC Six-step commutation Motores de drone Controlo de motores Engenharia Eletrotécnica - Telecomunicações . Faculdade de Ciências Exatas e da Engenharia