Adaptive closed-loop speed control of BLDC motors with applications to multi-rotor aerial vehicles

Antonio Franchi, Anthony Mallet

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

26 Citations (Scopus)

Abstract

This paper introduces the adaptive bias and adaptive gain (ABAG) algorithm for closed-loop electronic speed control (ESC) of the brushless direct current (BLDC) motors typically used to spin the propellers in multi-rotor aerial robots. The ABAG algorithm is adaptive and robust in the sense that it does not require the knowledge of any mechanical/electrical parameter of the motor/propeller group and that neither a pre-calibration nor the knowledge of the feedforward/nominal input is needed. The ABAG algorithm is amenable to an extremely low complexity implementation. We experimentally prove that it can run in 27.5 μ» on a 8 MHz microcontroller with no floating point unit and limited arithmetic capabilities allowing only 8-bit additions, subtractions and multiplications. Besides the controller implementation we present a self-contained open source software architecture that handles the entire speed control process, including clock synchronization, and over-current and blockage safeties. The excellent performance and robustness of ABAG are shown by experimental tests and aerial physical interaction experiments.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Robotics and Automation (ICRA)
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages5203-5208
Number of pages6
ISBN (Electronic)978-1-5090-4633-1
ISBN (Print)978-1-5090-4634-8
DOIs
Publication statusPublished - 21 Jul 2017
Externally publishedYes
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017: Innovation, Entrepreneurship, and Real-world Solutions - Singapore, Singapore
Duration: 29 May 20173 Jun 2017
http://www.icra2017.org/

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Volume2017
ISSN (Print)1050-4729

Conference

Conference2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Abbreviated titleICRA 2017
CountrySingapore
CitySingapore
Period29/05/173/06/17
Internet address

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