Sliding-mode control method for motor of quadrotor unmanned aerial vehicle
A quadrotor unmanned aerial vehicle and quadrotor unmanned technology, applied in the direction of electronic commutation motor control, single motor speed/torque control, control system, etc., can solve the problems of few specialized researches on actuator motor control
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[0077] The technical problem to be solved by the present invention is to provide a closed-loop BLDC (brushless DC motor) control method based on SMC (sliding mode robust control), improve the response speed and anti-interference ability of the motor, and realize the control of the rotor type UAV. precise control.
[0078] The technical solution adopted in the present invention is: establish the mathematical model of the brushless DC motor of the four-rotor UAV, calculate the zero-crossing point of the counter electromotive force by collecting the three-phase terminal voltage values of the motor, and realize the sensorless driving of the motor; The speed information is obtained by commutation time, and the SMC controller is used to realize the closed-loop speed control.
[0079] The described mathematical model of setting up the brushless DC motor is:
[0080] Assuming that the resistance values of the three-phase windings of the stator are all equal, the self-inductance o...
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