Identification and Estimation of DC-Motor Dynamics for the Crazyflie Quadcopter
(2017)Department of Automatic Control
- Abstract
- In this thesis methods for finding state space representation parameters for low inductance DC-motors are found and evaluated. Theory previously tested in simulations is verified experimentally and improved upon for both linear behaviour when the motor is controlled with a DC-source as well as nonlinear behaviour when controlled with pulse width modulation (PWM). For the linear behaviour a linear regression model with multiple regression sets proved satisfactory at identifying the motor dynamics. For the nonlinear behaviour caused by the PWM signal it was found that a Hammerstein model was sufficient to model the dynamics and several rotor speed estimators were tested and compared. Based on these results a design for a Crazyflie expansion... (More)
- In this thesis methods for finding state space representation parameters for low inductance DC-motors are found and evaluated. Theory previously tested in simulations is verified experimentally and improved upon for both linear behaviour when the motor is controlled with a DC-source as well as nonlinear behaviour when controlled with pulse width modulation (PWM). For the linear behaviour a linear regression model with multiple regression sets proved satisfactory at identifying the motor dynamics. For the nonlinear behaviour caused by the PWM signal it was found that a Hammerstein model was sufficient to model the dynamics and several rotor speed estimators were tested and compared. Based on these results a design for a Crazyflie expansion board is suggested. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8928602
- author
- Ottosson, Erik
- supervisor
- organization
- year
- 2017
- type
- H3 - Professional qualifications (4 Years - )
- subject
- report number
- TFRT-6041
- ISSN
- 0280-5316
- language
- English
- id
- 8928602
- date added to LUP
- 2018-02-27 13:07:46
- date last changed
- 2018-02-27 13:07:46
@misc{8928602,
abstract = {{In this thesis methods for finding state space representation parameters for low inductance DC-motors are found and evaluated. Theory previously tested in simulations is verified experimentally and improved upon for both linear behaviour when the motor is controlled with a DC-source as well as nonlinear behaviour when controlled with pulse width modulation (PWM). For the linear behaviour a linear regression model with multiple regression sets proved satisfactory at identifying the motor dynamics. For the nonlinear behaviour caused by the PWM signal it was found that a Hammerstein model was sufficient to model the dynamics and several rotor speed estimators were tested and compared. Based on these results a design for a Crazyflie expansion board is suggested.}},
author = {{Ottosson, Erik}},
issn = {{0280-5316}},
language = {{eng}},
note = {{Student Paper}},
title = {{Identification and Estimation of DC-Motor Dynamics for the Crazyflie Quadcopter}},
year = {{2017}},
}