Design of a Sensorless Brushless DC Motor Controller and Rotor System Establishment of aDual-Rotor Flying Robot

• Main Authors: Ming-En Fang, 方銘恩
• Other Authors: Ching-Long Shih
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/39064967869379595021

碩士 === 國立臺灣科技大學 === 電機工程系 === 97 === The flying-robot has many applications in various terrains, such as monitors the ground, cloud layer or rugged and rough mountain. Light weight and high efficiency are two basic requirements for a flying-robot. Therefore, high speed sensorless DC brushless motor is good choice. Sensorless driver has to detect motor position and to generate commutation signals are produced by either hardware circuit or software algorithms based on back electromagnetic force. The DC brushless motors have wide speed, and we apply the fuzzy speed controller to achieve low overshot and short settle time in speed response. The dual-rotor system uses CAN-bus network to change two rotor’s speed simultaneously. The sensorless brushless DC motor controller is controlled by using a dsPIC30F4012, and using software algorithms to detect commutation and to control speed. The main controller of the rotor system center is a dsPIC30F6014 to establish the CAN-bus network, and connect two brushless motor controller that can receive command synchronously from the main controller.