Propeller speed estimation for unmanned aerial vehicles using Kalman filtering

Krznar, Matija and Kotarski, Denis and Pavković, Danijel and Piljek, Petar (2018) 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. ISSN 1740-7516. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. Kvartili JCR: Q4 (2017). Točan broj autora: 4. (In Press)

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Abstract

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.

Item Type: Article (["eprint_fieldopt_article_type_article" not defined])
Keywords (Croatian): UAV propulsion, speed estimation, BLDC motor, Kalman filtering
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 1200 Department of Technology > 1220 Chair of Metal Forming
900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science: Yes
Indexed in Current Contents: No
Quartiles: Q4 (2017)
Date Deposited: 31 Jan 2019 12:03
Last Modified: 31 Jan 2019 12:05
URI: http://repozitorij.fsb.hr/id/eprint/9066

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