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Proceedings Paper

Characterization and enhancement of micro brushless DC motor response
Author(s): Joseph Conroy; Andrew Kehlenbeck; J. Sean Humbert; William Nothwang
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Paper Abstract

Commercially available speed controllers, motors, and propellers typically comprise the powertrains of many micro aerial robotic systems, such as quadrotor vehicles. As on board state sensing and processing improves, actuation bandwidth is becoming a significant bottleneck that limits the performance of the entire closed loop system. The performance of the commercial products can be greatly enhanced through the implementation of classical control methods directly at the powertrain level. In this paper, reduced order open loop models for three representative commercially available powertrains were estimated and were compared with closed loop equivalents. Further performance improvement is realized by the addition of a static inverse to mitigate the steady state structured uncertainty of the system.

Paper Details

Date Published: 4 June 2014
PDF: 15 pages
Proc. SPIE 9083, Micro- and Nanotechnology Sensors, Systems, and Applications VI, 90831P (4 June 2014); doi: 10.1117/12.2051263
Show Author Affiliations
Joseph Conroy, U.S. Army Research Lab. (United States)
Andrew Kehlenbeck, Univ. of Maryland, College Park (United States)
J. Sean Humbert, Univ. of Maryland, College Park (United States)
William Nothwang, U.S. Army Research Lab. (United States)

Published in SPIE Proceedings Vol. 9083:
Micro- and Nanotechnology Sensors, Systems, and Applications VI
Thomas George; M. Saif Islam; Achyut K. Dutta, Editor(s)

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