System identification and control of an aerobot drive system
Pounds, Paul, Mahony, Robert, & Corke, Peter (2007) System identification and control of an aerobot drive system. In Proceedings Information, Decision and Control, 2007. IDC '07, IEEE, Hilton, Adelaide, South Australia, pp. 154-159.
Fast thrust changes are important for authoritive control of VTOL micro air vehicles. Fixed-pitch rotors that alter thrust by varying rotor speed require high-bandwidth control systems to provide adequate performace. We develop a feedback compensator for a brushless hobby motor driving a custom rotor suitable for UAVs. The system plant is identified using step excitation experiments. The aerodynamic operating conditions of these rotors are unusual and so experiments are performed to characterise expected load disturbances. The plant and load models lead to a proportional controller design capable of significantly decreasing rise-time and propagation of disturbances, subject to bus voltage constraints.
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|Item Type:||Conference Paper|
|Keywords:||aerospace propulsion, telerobotics , rotors, feedback, brushless machines, aerospace robotics|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2007 IEEE|
|Copyright Statement:||Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.|
|Deposited On:||30 Aug 2010 12:03|
|Last Modified:||11 Aug 2011 02:54|
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