Research Of Coreless Motor Control System Based On DSP Used In Ducted-fan UAV

With the rapid development of the drone industry and disk motors,the potential of the disk motor for the power system of the drone is also growing.With the magnetic levitation technology,the power system as a ducted drone has become a promising technical direction.Compared with the traditional motor,the disc-type ironless motor has the advantages of short axial dimension,high power density,no cogging torque and small weight.With the deepening of research at home and abroad,the disc-type ironless motor is also getting more and more.Meet the power requirements of the drone.This paper introduces the application of the disc type ironless motor in the unmanned aerial vehicle power system,and designs the drive control system of the disc coreless motor with DSP as the core.The sensor and sensorless are discussed in combination with the control system.In the case of the motor control method,the simulation model of the control system is built and the control performance is simulated.Then the hardware test platform of the motor control system is built and tested on the motor performance experiment platform to verify the rationality of the designed control system.The main contents are as follows:1)The research status of the ducted drone is introduced.The development status of the disc permanent magnet motor at home and abroad,and the development history of the ironless motor are analyzed.The research situation of the motor drive control method and the advantages of the coreless disk motor are analyzed.2)The structure of the permanent magnet ironless motor is analyzed.The topology of the common motor drive mode is introduced.The influence of the special structure of the disc ironless motor on the motor control is discussed.The mathematical model of the motor is established and derived.On the basis of this,for the problem that the armature inductance of the disc ironless motor is too small,the simple and easy serial inductance is used to reduce the influence of its structure on the control,and the simulation verification is carried out.Series inductors can effectively improve the control performance of small inductor motors3)On the basis of analyzing the principle of ironless disc motor,combined with the working requirements of its application on the UVA,the control method of double-closed loop of speed and current is selected to ensure the control performance of the motor.Based on this,the motor is designed.The control system,in order to ensure the control ability of the UAV motor in harsh environment,designed a sensor control method,and proposed an exponential approach law and shifting speed based on the sensorless control method based on the classic sliding mode observer.The sliding mode observer of the combination approach law of the approach law,in the simulation analysis of the scheme,proves that the proposed improved sliding mode observer can accurately estimate the back electromotive force of the motor compared to the classical observation.The device can effectively reduce chattering.4)Designed and built the software and hardware of the motor controller,introduced the structure and design process of each part of the hardware system in detail,and based on the hardware design,wrote the DSP-based control program with position sensor and position sensorless.Introduced the implementation process of each part of the software.Finally,the motor experimental platform is built on the basis of hardware and software,and the feasibility and rationality of the control scheme are verified by experiments.It is verified that the control system can work normally and meet the design requirements.