Integrated parameters measurement of brushless direct current motor and control for quadcopter application
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Date
2019-06
Authors
Leong Yong Chee
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Abstract
The objective of this project is to measure and study the performance parameters
of the BLDC motor. The parameters obtained in this project is propeller thrust, rotor
speed and motor current, which is measured by HX711 load cell sensor, A3144 Hall
effect RPM sensor and GY-712 Hall effect current sensor respectively. A motor
propeller testbed is set up with the electronic sensor modules and MCU embedded to
perform the real-time signal processing in accessing the integrated performance
parameters while increasing controlled throttle is applied. On the other hands, step
responses of thrust generated by the rotor-propeller are acquired at different fixed throttle
inputs. Before conducting the experiment, the sensor modules had been calibrated by
comparing the reading with hand measuring tools to validate the accuracy of those
sensors and find out that the output of current sensor exist an additional offset of 0.277
A that causing it to deviate from the actual value even though a moving average is applied
into current measuring algorithms. The purpose of this experiment is to study the
correlations between the measured parameters so as to identify the performance
limitations and constraints within the open-loop control system. The results show that
the BLDC motor start to toggle on at servo throttle of ‘46’ and reach its maximum throttle
at ‘135’ while the motor stalling occurs at throttle percentage of 53.33%. The thrust
generated using smaller size propeller is lower however higher rotor speed and lower
current consumed is achieved on behalf of that. The step response of thrust at different
throttle control is observed in verifying the stability performance of motor-propeller
when applying different speeds. The result shows that the motor losing efficiency at high
steady throttle or whenever there is a throttle change as the settling time increases and
the overshoot occurs in the waste of energy.