無人機直流無刷馬達無感測器驅動開發及測試

Development and Testing of Sensorless Driving System for BLDC Motors on High Power Drones

陳以恩 ； 黃靖倫 ； 葉信典 ； 楊士進

《機械工業雜誌》 472期 (2022/07) Pp. 61-66

摘要

本文為開發大功率無人機馬達（42極4kw外轉子BLDC）應用之驅動系統，搭配以六步方波PWM無感測器驅動之演算法，使得馬達順利在空載及滿載的情形下，由Duty 0加速至100 %而不出現失步的情形，並試圖將其運用在工研院機械所開發之商用無人機上。本文主要分為四個階段：（1）建置實驗平台（2）無感測器演算法撰寫（3）空載Duty 0-100 %加速測試（4）滿載（40吋扇葉）Duty 0-100 %加速測試。本測試改善文獻所提出演算法之系統動態響應，並在實際的無人機上進行測試。針對Duty 0～100 %不失步之目標，實際測試所開發之無感測器演算法，並針對無人機馬達運轉結果優化其演算法。

關鍵字

直流無刷馬達 ； 無位置感測器控制 ； 脈衝寬度調變

並列摘要

The purpose of this article is to develop a driving system for the 42-pole 4kw outer rotor BLDC of high power drones. The driving system is based on the six-step trapezoidal wave Pulse-Width Modulation (PWM) sensorless algorithm, and the goal is to accelerate the motor from duty 0 to 100% without step lost under either no-load or full-load condition. Eventually, this driving system will be used on the commercial drones developed by the Industrial Technology Research Institute (ITRI). This article includes four parts: (1) Set up the experimental platform; (2) Develop the sensorless driving algorithm; (3) Perform the no-load acceleration testing (duty 0~100%); (4) Perform the full-load (40 inch blade) acceleration testing (duty 0~100%).

並列關鍵字

BLDC ； Sensorless control ； PWM

參考文獻

C.L. Huang, C.J. Wu, and S.C. Yang, “Full-region sensorless BLDC drive for permanent magnet motor using pulse amplitude modulation with DC current sensing,ˮ in IEEE Transactions on Industrial Electronic 68(11), 11234-11244, 2021.