Pregled bibliografske jedinice broj: 963126
Propeller speed estimation for unmanned aerial vehicles using Kalman filtering
Propeller speed estimation for unmanned aerial vehicles using Kalman filtering // International Journal of Automation and Control, 14 (2020), 3; 284-303 (međunarodna recenzija, članak, znanstveni)
CROSBI ID: 963126 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Propeller speed estimation for unmanned aerial vehicles using Kalman filtering
Autori
Krznar, Matija ; Kotarski, Denis ; Pavković, Danijel ; Piljek, Petar
Izvornik
International Journal of Automation and Control (1740-7516) 14
(2020), 3;
284-303
Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni
Ključne riječi
UAV propulsion, speed estimation, BLDC motor, Kalman filtering
Sažetak
This paper presents an on-line propeller speed estimation system for a multi-rotor unmanned aerial vehicle (UAV) equipped with brushless DC (BLDC) motors and powered by a lithium-polymer battery pack. Propeller speed estimation is based on battery drain current measurement extended with averaged state-space model of brushless DC motor utilized within a Kalman filter-based state estimator. Based on the BLDC motor and propeller physical parameters and utilising corresponding mathematical model, the estimation system is implemented within the flight computer on board the UAV. The proposed propeller speed estimation algorithm is verified experimentally for a wide range of propeller operating regimes, which has shown that the proposed method is able to provide efficient estimation of UAV propeller speed.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Strojarstvo
POVEZANOST RADA
Ustanove:
Fakultet strojarstva i brodogradnje, Zagreb,
Veleučilište u Karlovcu
Citiraj ovu publikaciju:
Časopis indeksira:
- Web of Science Core Collection (WoSCC)
- Emerging Sources Citation Index (ESCI)
- Scopus
