Paper
4 June 2014 Characterization and enhancement of micro brushless DC motor response
Joseph Conroy, Andrew Kehlenbeck, J. Sean Humbert, William Nothwang
Author Affiliations +
Abstract
Commercially available speed controllers, motors, and propellers typically comprise the powertrains of many micro aerial robotic systems, such as quadrotor vehicles. As on board state sensing and processing improves, actuation bandwidth is becoming a significant bottleneck that limits the performance of the entire closed loop system. The performance of the commercial products can be greatly enhanced through the implementation of classical control methods directly at the powertrain level. In this paper, reduced order open loop models for three representative commercially available powertrains were estimated and were compared with closed loop equivalents. Further performance improvement is realized by the addition of a static inverse to mitigate the steady state structured uncertainty of the system.
© (2014) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Joseph Conroy, Andrew Kehlenbeck, J. Sean Humbert, and William Nothwang "Characterization and enhancement of micro brushless DC motor response", Proc. SPIE 9083, Micro- and Nanotechnology Sensors, Systems, and Applications VI, 90831P (4 June 2014); https://doi.org/10.1117/12.2051263
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KEYWORDS
Actuators

System identification

Control systems

Robotic systems

Control systems design

Field effect transistors

Manufacturing

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