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Embedded measurement of torque and speed of a brushless motor for Quadrotors

Grant number: 16/21843-4
Support type:Scholarships in Brazil - Scientific Initiation
Effective date (Start): April 01, 2017
Effective date (End): June 03, 2019
Field of knowledge:Engineering - Electrical Engineering - Electrical, Magnetic and Electronic Measurements, Instrumentation
Principal researcher:André Carmona Hernandes
Grantee:Nathalia Marcatto Scurachio
Home Institution: Centro de Ciências Exatas e de Tecnologia (CCET). Universidade Federal de São Carlos (UFSCAR). São Carlos , SP, Brazil


In aerial robotics applications, brushless motors are a common choice as actuators. Literature review suggest that dominant equation of this type of motor are like brushed ones. Thus, the output power of this actuation system depends on rotor speed and drained current. Therefore, measuring speed and current in flight allows to estimate power, leading to a rough estimative of overall consumption. Moreover, this additional information can be added in control loop. This work aims to develop an embedded measurement system of mechanical conjugate (which comprises rotor speed and torque). The rotor speed will be measured directly and the torque will be inferred by the drained current. It will be used an optical sensor as a speed sensor, based on an infrared emitter/receiver pair. Tests will have distance from motor and size of reflexive strip to find an optimal operation point. For the amperemeter, a reference resistor and a Hall sensor will be compared. Both developed sensors will be tested with a commercial sensor for calibration. (AU)

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