NDLI: Speed controller design for the actuators of a quadrotor unmanned aerial vehicle

Content Provider	IEEE Xplore Digital Library
Author	Huang Guoping Xian Bin Zeng Wei Diao Chen Guo Fang
Copyright Year	2012
Description	Author affiliation: School of Electrical Engineering and Automation, the Institute of Robotics and Autonomous System, the Tianjin Key Laboratory of Process Measurement and Control, Tianjin University, Tianjin 300072 (Huang Guoping; Xian Bin; Zeng Wei; Diao Chen; Guo Fang)
Abstract	The quadrotor unmanned aerial vehicle (UAV) has been a hot area for the research of unmanned aerial vehicle. As an important part of the quadrotor U AV systems, the actuators directly determine the quadrotor's flying performance. A new speed controller design is proposed for the actuators of a quadrotor unmanned aerial vehicle in this paper. A method of motor speed measurement is proposed. A hardware architecture is developed to measure the speed and to obtain the dynamic model of the brushless motor via nonlinear regression analysis. Then fuzzy logic method is combined with a PID control algorithm to design the speed controller for brushless motors which are employed as the quadrotor UAV's actuators. This controller greatly reduces the system's rise time, delay time, and increase the accuracy of speed control of brushless motors. Finally, a driver circuit is designed and a PCB board is produced to implement proposed speed controller design. Experiment results are presented to show that the proposed controller design achieves good motor speed control performance.
Starting Page	4640
Ending Page	4645
File Size	417664
Page Count	6
File Format	PDF
ISBN	9781467325813
ISSN	21612927
e-ISBN	9789881563811
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	DSP Brushless Motor Actuators Brushless motors PID Control Digital signal processing Pulse width modulation Fuzzy Control Quadrotor Unmanned Aerial vehicle Unmanned aerial vehicles MATLAB Niobium
Content Type	Text
Resource Type	Article

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