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Identification and Estimation of DC-Motor Dynamics for the Crazyflie Quadcopter

Ottosson, Erik (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:
author
Ottosson, Erik
supervisor
organization
year
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},
}