Design And Realization Of The Motor Drive System In Quadrotor Unmanned Aerial Vehicle Based On FOC

With the rapid development of electronic technology and computer technology, Multiple rotor UAV, with its vertical take-off and landing, free hovering, high mobility, powerful adaptability to the complex and changeable working environment and so on, has been widely paid attention and concerned in various fields.Field oriented control(FOC), also called vector control, is a technique to control the motor by changing the three-phase output of the converter. The main task of this paper is focus on the research about the problems of insufficient battery life and low motor control efficiency with the Quadrotor UAV recently. Combining with the characteristics of the Quadrotor UAV, field oriented control algorithm of the high power motor is improved in this paper, and the algorithm is realized by the use of embedded system. The improvement of this paper mainly studies three aspects:1. Under the small motor control of the quad-rotor, this paper takes field oriented control approach of high-power motor. Compared with the current square wave power transfer control commonly, motor’s conversion efficiency is improved about 6 to 8 percent.2. Through the control of the magnetic field to process the weak magnetic, the response speed of motor control system is enhanced.3. The software position estimation method is adopted, instead of the traditional hardware position sensor, making the complexity of the algorithm optimized and the implement more easy.This paper mainly studies two aspects of hardware and software to achieve the control of the motor in the Quadrotor UAV. The hardware is designed as follow: employing MB9BF564 KPMC as the MCU, and DRV8303 DCA as the driver, the power drive circuit, current acquisition circuit and other modules are designed. The main functions of software are programming codes, including motor rotation program, commutation program, low voltage protection program and over current protection program and so forth.Finally, the FOC motor drive system is analyzed by the software and hardware test. The test results show that the system can better achieve motor start and commutation. Compared with the commonly square wave power transfer control, under the same pulling force and speed, Quadrotor UAV with FOC control system has lower power consumption, longer battery life, stable system, fast response, fully meeting the requirements of dynamic design of the Quadrotor UAV.