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    Autonomous Navigation For Flying Robots Motors and Controllers

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    Soham Mullick
    This document discusses different types of motors and controllers used for autonomous navigation of flying robots. It describes DC motors which use electromagnets and brushes to induce torque. Brushless motors are also discussed, which use stationary electromagnets and rotating permanent magnets. Brushless motor controllers are microcontrollers that generate PWM signals to control the three phases of a brushless motor. The document provides an example of the Parrot AR Drone which uses brushless motors, AC converters to control the motor phases from a CPU, and communicates with an autopilot using the I2C protocol.

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    Autonomous Navigation For Flying Robots Motors and Controllers

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    Soham Mullick
    14 views8 pages
    This document discusses different types of motors and controllers used for autonomous navigation of flying robots. It describes DC motors which use electromagnets and brushes to induce torque. Brushless motors are also discussed, which use stationary electromagnets and rotating permanent magnets. Brushless motor controllers are microcontrollers that generate PWM signals to control the three phases of a brushless motor. The document provides an example of the Parrot AR Drone which uses brushless motors, AC converters to control the motor phases from a CPU, and communicates with an autopilot using the I2C protocol.

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    Torrent Downloaded From Demonoid.com

    Original Title

    Lecture 4 Part 1

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    This document discusses different types of motors and controllers used for autonomous navigation of flying robots. It describes DC motors which use electromagnets and brushes to induce torque. Brushless motors are also discussed, which use stationary electromagnets and rotating permanent magnets. Brushless motor controllers are microcontrollers that generate PWM signals to control the three phases of a brushless motor. The document provides an example of the Parrot AR Drone which uses brushless motors, AC converters to control the motor phases from a CPU, and communicates with an autopilot using the I2C protocol.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    14 views8 pages

    Autonomous Navigation For Flying Robots Motors and Controllers

    Uploaded by

    Soham Mullick
    This document discusses different types of motors and controllers used for autonomous navigation of flying robots. It describes DC motors which use electromagnets and brushes to induce torque. Brushless motors are also discussed, which use stationary electromagnets and rotating permanent magnets. Brushless motor controllers are microcontrollers that generate PWM signals to control the three phases of a brushless motor. The document provides an example of the Parrot AR Drone which uses brushless motors, AC converters to control the motor phases from a CPU, and communicates with an autopilot using the I2C protocol.

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    of 8

    Computer Vision Group

    Prof. Daniel Cremers


    Autonomous Navigation for Flying Robots

    Lecture 4.1:
    Motors and Controllers
    Jrgen Sturm
    Technische Universitt Mnchen
    DC Motors
    Stationary permanent magnet
    Electromagnet on axis induces torque
    Split ring + brushes switch direction of current
    Maybe you built one in school

    Jrgen Sturm Autonomous Navigation for Flying Robots 2
    http://www.hometrainingtools.com/dc-motor-kit/p/EL-KIT02/ CC BY SA by Wapcaplet
    http://en.wikipedia.org/wiki/File:Electric_motor_cycle_2.png
    http://www.seeedstudio.com/depot/bitcraze-m-
    64.html?ref=side
    Control of DC Motors
    More power = faster rotation
    How to modulate power using a digital signal?
    Pulse width modulation (PWM)
    Duty cycle = proportion of on time vs. period
    Jrgen Sturm Autonomous Navigation for Flying Robots 3
    75%
    50%
    25%
    duty cycle
    period
    5V
    0V
    Brushless Motors
    Electromagnets are stationary
    Permanent magnets on the axis (either inside or outside)
    Three coils (or more)
    No brushes (less maintenance, higher efficiency)

    Jrgen Sturm Autonomous Navigation for Flying Robots 4
    https://www.hobbyking.com/hobbyking/store/
    __25556__AX_2810Q_750KV_Brushless_Quadcopter_Motor.html
    N S
    Brushless Controllers
    Typically one microcontroller per motor
    Generates PWM signal for the three motor phases
    AC signal converter (MOSFET) to convert PWM to
    analogue output
    Measure motor position/speed using back-EMF
    Jrgen Sturm Autonomous Navigation for Flying Robots 5
    http://en.wikipedia.org/wiki/File:ESC_35A.jpg
    A-B
    B-C
    C-A
    A
    B C
    I
    2
    C Protocol
    Serial data line (SDA) + serial clock line (SCL)
    All devices connected in parallel
    7-10 bit address, 100-3400 kbit/s speed
    Communication between motor controller and autopilot
    Jrgen Sturm Autonomous Navigation for Flying Robots 6
    http://en.wikipedia.org/wiki/File:I2C.svg
    http://en.wikipedia.org/wiki/File:I2C_data_transfer.svg
    Example: Parrot Ardrone
    Jrgen Sturm Autonomous Navigation for Flying Robots 7
    http://droneflyers.com/category/ar_drone/
    Source: Parrot
    Brushless motor
    3x AC converters
    (MOSFET)
    AVR CPU
    (8 MIPS)
    3 motor
    phases
    1:8.75 gears
    Lessons Learned
    DC motors
    Brushless motors
    Motor controllers
    Ardrone example
    Next: How do we generate suitable control signals
    Jrgen Sturm Autonomous Navigation for Flying Robots 8

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