Alharbi, Faisal (2019) Design of a Brushless DC drive for unmanned aerial vehicles. [USQ Project]
Abstract
Nowadays, unmanned aerial vehicles (UAVs) are being adopted as an efficient, fast and relatively cheap vehicle in a variety of applications including military missions, surveillance, transportation, photography, filming, etc. UAVs have been designed and manufactured in various different types and sizes. Due to their light weight, compact size, energy efficiency and low noise, BLDC motors are commonly used as the driving force of UAVs. Apart from proper mechanical design and appropriate selection of motors, the performance of UAVs is significantly affected by the control system design. The complexity of BLDC motor drives on and the nonlinear dynamics of UAVs makes the control design a challenging problem. Although the design of controllers for BLDC drives and UAVs have been extensively studied in the literature, a systematic design scheme considering the dynamics of BLDC and UAVs have not been presented. In this project, the problem of control design for BLDC-based UAVs is solved by taking advantage of linear system analysis techniques as well as nonlinear control schemes. The design is carried out in a step-by-step fashion. In the first step, the mathematical model of BLDC motors and UAV is derived. Then, the model is implemented in MATLAB. By using linearization technique, the time domain and frequency domain response of the BLDC drive is obtained. The results are analyzed to determine the dominant modes of the BLDC motor. By considering these modes, and by using the control toolbox in MATLAB, the motor current and speed controllers are designed. Next, the complete UAV system is modelled and the angle controller is designed so as to track the reference roll, pitch and yaw angles with zero steady-state error and fast response time. A detailed nonlinear model of the system is then developed in MATLAB. Time domain simulations of the detailed model prove the efficacy of the proposed design in terms of tracking the reference angles and ensuring reliable operation of motors.
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| Item Type: | USQ Project |
|---|---|
| Item Status: | Live Archive |
| Faculty/School / Institute/Centre: | Historic - Faculty of Health, Engineering and Sciences - School of Mechanical and Electrical Engineering (1 Jul 2013 - 31 Dec 2021) |
| Supervisors: | Wen, Paul |
| Qualification: | Bachelor of Engineering (Honours) (Electrical and Electronic) |
| Date Deposited: | 26 Aug 2021 01:35 |
| Last Modified: | 26 Jun 2023 05:38 |
| URI: | https://sear.unisq.edu.au/id/eprint/43181 |
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