Adaptive closed-loop speed control of BLDC motors with applications to multi-rotor aerial vehicles

摘要

This paper introduces the adaptive bias and adaptive gain (ABAG) algorithm for closed-loop electronic speed control (ESC) of the brushless direct current (BLDC) motors typically used to spin the propellers in multi-rotor aerial robots. The ABAG algorithm is adaptive and robust in the sense that it does not require the knowledge of any mechanical/electrical parameter of the motor/propeller group and that neither a pre-calibration nor the knowledge of the feedforwardominal input is needed. The ABAG algorithm is amenable to an extremely low complexity implementation. We experimentally prove that it can run in 27.5 μs on a 8 MHz microcontroller with no floating point unit and limited arithmetic capabilities allowing only 8-bit additions, subtractions and multiplications. Besides the controller implementation we present a self-contained open source software architecture that handles the entire speed control process, including clock synchronization, and over-current and blockage safeties. The excellent performance and robustness of ABAG are shown by experimental tests and aerial physical interaction experiments.