Feedforward Periodic Torque Synthesis-Based Precise Control for BLDC Motor with Swashplateless Mechanism

Junfeng Chen

doi:10.54097/ftxnn039

Authors

Junfeng Chen School of Equipment Management and Support, Engineering University of PAP, Xi’an, 710086, China

DOI:

https://doi.org/10.54097/ftxnn039

Keywords:

Swashplate-less Mechanism; Field-Oriented Control; Periodic Torque Synthesis; Feedforward Control; SVPWM.

Abstract

Aiming at the problems of torque response lag and low modulation accuracy existing in traditional throttle modulation modes of unmanned aerial vehicles (UAVs) equipped with Swashplate-less Mechanism (SPLM), a periodic torque SVPWM synthesis control method based on phase feedforward is proposed. Firstly, the dynamic model of the SPLM and the Field-Oriented Control (FOC) model of surface-mounted permanent magnet synchronous motor (SPMSM) are established to reveal the coupling relationship between the instantaneous electromagnetic torque of the motor and the blade pitch angle. Secondly, the action mechanisms of three schemes, namely outer modulation of traditional speed loop, pure feedback current loop tracking and load feedforward periodic torque synthesis, are compared and analyzed. Finally, quantitative evaluation is carried out from three dimensions including total harmonic distortion of torque waveform, amplitude tracking error and phase tracking error via simulation experiments. The results show that under the operating condition of 5000 r/min, the load feedforward periodic torque synthesis method reduces the torque phase error from 8.7° to 1.2°, the amplitude error from 11.3% to 2.1%, and the total harmonic distortion from 18.6% to 4.2%, which significantly improves the torque modulation accuracy and response speed of the SPLM.

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