The effect of electromagnetic processes on gyroscope readings in BLDC motors

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Abstract

The relevance of the work lies in the fact that vibration interference due to the operation of quadrocopter engines remains one of the key reasons for the deterioration in accuracy and stability of drone control systems. This interference, caused by a flux switching motor, can significantly affect the accuracy of accelerometer and gyroscope readings, reducing the overall navigation and stabilisation performance. Therefore, studying the properties of such disturbances and their influence on quadrocopter dynamics is an important and practical task. The objective of this paper is to determine vibration properties caused by flux switching motor, as well as their effect on quadrocopter performance. Methods. The methods of mathematical modelling, spectral analysis and experimental investigations are used in this work. Results. This paper proposes a modification to the quadrocopter model that considers these interferences. Modelling and experimental results confirm that vibration frequency is related to engine control and is present in the thrust force spectrum, which in turn is reflected in the readings from the gyroscope and accelerometer. The necessity of taking vibration noise into account for qualitative synthesis of quadrocopter control systems, as well as the development of new noise-tolerant algorithms is emphasized. Conclusions. Further research could focus on optimising the control architecture to account for the identified spectral interference. It could also involve developing more efficient filters that could deliver high performance and accuracy when noise interference is included.

About the authors

H. Pham Trong

Tomsk Polytechnic University

Email: tronghai180598@gmail.com
ORCID iD: 0009-0004-6272-890X

Graduate student in the Electrical power Engineering Department of the School of Energy Engineering

Russian Federation, Usova street, 7, Tomsk, Russia, 634050

A. A. Shilin

Tomsk Polytechnic University

Email: shilin@tpu.ru
ORCID iD: 0000-0002-4761-7249
SPIN-code: 2790-9730

Doctor of Technical Sciences, Associate Professor, Professor of the Department, Electrical power Engineering Department of the School of Energy Engineering

Russian Federation, Usova street, 7, Tomsk, Russia, 634050

M. T. Nguyen

MIREA – Russian Technological University

Author for correspondence.
Email: nguen_m@mirea.ru
ORCID iD: 0009-0002-7267-1121
SPIN-code: 5480-9970

Candidate of Engineering Sciences, Associate Professor of the Department of Informatics

Russian Federation, Vernadsky avenue, 78, Moscow, Russia, 119454

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