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Modeling, Controller Design and Simulation Groundwork on Multirotor Unmanned Aerial Vehicle Hybrid Power Unit

Author

Listed:
  • Matija Krznar

    (Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Ivana Lučića 5, 10000 Zagreb, Croatia)

  • Danijel Pavković

    (Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Ivana Lučića 5, 10000 Zagreb, Croatia)

  • Mihael Cipek

    (Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Ivana Lučića 5, 10000 Zagreb, Croatia)

  • Juraj Benić

    (Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Ivana Lučića 5, 10000 Zagreb, Croatia)

Abstract

This paper presents the results of modeling, control system design and simulation verification of a hybrid-electric drive topology suitable for power flow control within unmanned aerial vehicles (UAVs). The hybrid power system is based on the internal combustion engine (ICE) driving a brushless DC (BLDC) generator supplying the common DC bus used for power distribution within the aircraft. The overall control system features proportional-integral-derivative (PID) feedback control of the ICE rotational speed using a Luenberger estimator for engine-generator set rotational speed estimation. The BLDC generator active rectifier voltage and current are controlled by proportional-integral (PI) feedback controllers, augmented by estimator-based feed-forward load compensators. The overall control system design has been based on damping optimum criterion, which yields straightforward analytical expressions for controller and estimator parameters. The robustness to key process parameters variations is investigated by means of root-locus methodology, and the effectiveness of the proposed hybrid power unit control system is verified by means of comprehensive computer simulations.

Suggested Citation

  • Matija Krznar & Danijel Pavković & Mihael Cipek & Juraj Benić, 2021. "Modeling, Controller Design and Simulation Groundwork on Multirotor Unmanned Aerial Vehicle Hybrid Power Unit," Energies, MDPI, vol. 14(21), pages 1-26, November.
    • Handle: RePEc:gam:jeners:v:14:y:2021:i:21:p:7125-:d:669705
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    References listed on IDEAS

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    1. Cipek, Mihael & Kasać, Josip & Pavković, Danijel & Zorc, Davor, 2020. "A novel cascade approach to control variables optimisation for advanced series-parallel hybrid electric vehicle power-train," Applied Energy, Elsevier, vol. 276(C).
    2. Zoran Benic & Petar Piljek & Denis Kotarski, 2016. "Mathematical modelling of unmanned aerial vehicles with four rotors," Interdisciplinary Description of Complex Systems - scientific journal, Croatian Interdisciplinary Society Provider Homepage: http://indecs.eu, vol. 14(1), pages 88-100.
    3. Tomasz Pajchrowski & Michał Krystkowiak & Dominik Matecki, 2021. "Modulation Variants in DC Circuits of Power Rectifier Systems with Improved Quality of Energy Conversion—Part I," Energies, MDPI, vol. 14(7), pages 1-18, March.
    4. Boukoberine, Mohamed Nadir & Zhou, Zhibin & Benbouzid, Mohamed, 2019. "A critical review on unmanned aerial vehicles power supply and energy management: Solutions, strategies, and prospects," Applied Energy, Elsevier, vol. 255(C).
    5. Vadim Carev & Jan Roháč & Martin Šipoš & Michal Schmirler, 2021. "A Multilayer Brushless DC Motor for Heavy Lift Drones," Energies, MDPI, vol. 14(9), pages 1-19, April.
    6. Danijel Pavković & Mihael Cipek & Zdenko Kljaić & Tomislav Josip Mlinarić & Mario Hrgetić & Davor Zorc, 2018. "Damping Optimum-Based Design of Control Strategy Suitable for Battery/Ultracapacitor Electric Vehicles," Energies, MDPI, vol. 11(10), pages 1-26, October.
    7. Yonas Zewdu Ayele & Mostafa Aliyari & David Griffiths & Enrique Lopez Droguett, 2020. "Automatic Crack Segmentation for UAV-Assisted Bridge Inspection," Energies, MDPI, vol. 13(23), pages 1-16, November.
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    10. Matija Krznar & Petar Piljek & Denis Kotarski & Danijel Pavković, 2021. "Modeling, Control System Design and Preliminary Experimental Verification of a Hybrid Power Unit Suitable for Multirotor UAVs," Energies, MDPI, vol. 14(9), pages 1-24, May.
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