Sensorless Control of Outer Rotor Brushless DC Motor With Back-EMF Observer for Drone

Abstract

The outer rotor brushless direct current motor, which is a highly speed, efficiently, silence and long-life motor, is the most popular motor for drones. Control methods of this type of motor is the most important parameter to be considered. The hall effect sensors, that used in BLDC motor, are not trustable in control applications therefore the back-EMF observer method can be operated for sensorless control. Reducing the production cost of the drive for drone applications is one of the primary goals of manufacturers. Manufacturing cost reduction is often achieved by eliminating driver auxiliary components such as sensors. The use of these sensors, which are important for the detection of rotor position, has been eliminated with sensorless driver designs. This study presents a sensorless outer rotor BLDC motor driver algorithm with back-EMF observer with motor input terminal current and DC bus voltage independent of rotor speed. The sensorless driver model proposed in the study was implemented for a 330W drone motor with a rated voltage of 14.8V. The proposed sensorless control algorithm is proved by MATLAB/SIMULINK results

Keywords

• Back-EMF observer
• sensorless control
• outer rotor BLDC motor
• drone

References

1. [1] P. Zhu, T. Peng, D. Du, H. Yu, L. Zhang, Q. Hu. "Graph Regularized Flow Attention Network for Video Animal Counting From Drones." IEEE Transactions on Image Processing, vol. 30, 2021, pp. 5339-5351. doi: 10.1109/TIP.2021.3082297.
2. [2] S. U. Jan, F. Qayum, H. U. Khan. "Design and Analysis of Lightweight Authentication Protocol for Securing IoD." IEEE Access, vol. 9, 2021, pp. 69287-69306. doi: 10.1109/ACCESS.2021.3076692
3. [3] E. Yanmaz Adam. "Leveraging Connectivity for Coverage in Drone Networks for Target Detection." Balkan Journal of Electrical and Computer Engineering, 7(3), 2019, pp 218-225. doi:10.17694/bajece.503818
4. [4] V. Araña-Pulido, E. Jiménez-Yguácel, F. Cabrera-Almeida, P. Quintana-Morales. "Triangular Phase Shift Detector for Drone Precise Vertical Landing RF Systems." IEEE Transactions on Instrumentation and Measurement, vol. 70, 2021, pp. 1-8, 2021. doi: 10.1109/TIM.2021.3063772.
5. [5] K. Backman, D. Kulić, H. Chung. "Learning to Assist Drone Landings." IEEE Robotics and Automation Letters, vol. 6, no. 2, 2021, pp. 3192-3199 doi: 10.1109/LRA.2021.3062572.
6. [6] F. Kazan, R. Akkaya. "The Effect of Increases in User Weight and Road Slope on Energy Consumption in Disabled Vehicle Driven with PMSM", Balkan Journal of Electrical and Computer Engineering, 9(1), 2021, pp. 1-7. doi:10.17694/bajece.783455
7. [7] M. Çorapsız , H. Kahveci, M. Çorapsız. "Analysis and Suppressing Speed Fluctuations in Brushless DC Motors." Balkan Journal of Electrical and Computer Engineering, 7(3), 2019, pp. 300-310. doi:10.17694/bajece.569774
8. [8] P. Uvaraj, M. Murugan, R. Jeyabharath. "Intention of an inimitable sensorless control for BLDC motor drive," International Conference on Electronics and Communication Systems (ICECS), pp. 1-5, Coimbatore India, 2014. doi: 10.1109/ECS.2014.6892548.

9. [9] P. Damodharan, K. Vasudevan. "Sensorless Brushless DC Motor Drive Based on the Zero-Crossing Detection of Back Electromotive Force (EMF) From the Line Voltage Difference." IEEE Transactions on Energy Conversion, vol. 25, no. 3, 2010, pp. 661-668. doi: 10.1109/TEC.2010.2041781.
10. [10] P. Norouzi, Ö. C. Kıvanç, Ö. Üstün. "High performance position control of double sided air core linear brushless DC motor." 10th International Conference on Electrical and Electronics Engineering (ELECO), Bursa Turkey, pp. 233-238. 2017.
11. [11] J. S. Park, K. Lee, S. G. Lee, W. Kim. "Unbalanced ZCP Compensation Method for Position Sensorless BLDC Motor." IEEE Transactions on Power Electronics, vol. 34, no. 4, 2019, pp. 3020-3024. doi: 10.1109/TPEL.2018.2868828.
12. [12] D. Arifiyan, S. Riyadi. "Hardware Implementation of Sensorless BLDC Motor Control to Expand Speed Range." 2019 International Seminar on Application for Technology of Information and Communication (iSemantic), pp. 476-481, Semarang, Indonesia, 2019. doi: 10.1109/ISEMANTIC.2019.8884269.
13. [13] X. Zhang, X. Xie, R. Yao. "Field oriented control for permanent magnet synchronous motor based on DSP experimental platform." The 27th Chinese Control and Decision Conference (2015 CCDC), pp. 1870-1875, Qingdao, China, 2015. doi: 10.1109/CCDC.2015.7162224.
14. [14] M. Faeq, D. Ishak. "Anew scheme sensorless control of BLDC motor using software PLL and third harmonic back-emf." 2009 IEEE Symposium on Industrial Electronics & Applications, pp. 861-865, Kuala Lumpur, Malaysia, 2009. doi: 10.1109/ISIEA.2009.5356344.
15. [15] R Sreepriya, R. Rajagopal. "Sensorless control of three phase BLDC motor drive with improved flux observer." 2013 International Conference on Control Communication and Computing (ICCC), Thiruvananthapuram, India, pp. 292-297, 2013. doi: 10.1109/ICCC.2013.6731667.
16. [16] F. Ahmad, M. Pandey, M. Zaid. "Sensorless Control of Brushless DC Motor by Zero-Crossing Detection Pulse Generation with Adaptive Power Factor Control Technique." 2018 IEEE International Conference on Environment and Electrical Engineering and 2018 IEEE Industrial and Commercial Power Systems Europe (EEEIC / I&CPS Europe), pp. 1-6, Palermo, Italy, 2018. doi: 10.1109/EEEIC.2018.8493648.
17. [17] Zhang X.Z., Wang Y.N. “A novel position-sensorless control method for brushless DC motors.” Energy Conversion and Management, Vol. 52, Issue 3, 2011, pp. 1669-1676. https://doi.org/10.1016/j.enconman.2010.10.030.
18. [18] C. Tong, M. Wang, B. Zhao, Z. Yin, P. Zheng. "A Novel Sensorless Control Strategy for Brushless Direct Current Motor Based on the Estimation of Line Back Electro-Motive Force." Energies, vol. 10, no. 9, 2017, pp. 1-20.
19. [19] T-S Kim, B-G Park, D-M Lee, J-S Ryu, D-S Hyun. “A new approach to sensorless control method for brushless DC motors.” International Journal of Control, Automation, and Systems, 6(4), 2008, pp. 477–487.