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    The Operation of UAV Propulsion Motors in the Presence of High External Magnetic Fields

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    Authors
    Heggo, Mohammad; email: mohammadheggo@ieee.org
    Mohammed, Anees; email: Anees.mohammedjumaa@gmail.com
    Melecio, Juan; email: ignacio.melecio@postgrad.manchester.ac.uk
    Kabbabe, Khristopher; email: khristopher.kabbabe@manchester.ac.uk
    Tuohy, Paul; email: paul.tuohy-2@manchester.ac.uk
    Watson, Simon; orcid: 0000-0001-9783-0147; email: simon.watson@manchester.ac.uk
    Durovic, Sinisa; orcid: 0000-0001-7700-6492; email: Sinisa.Durovic@manchester.ac.uk
    Publication Date
    2021-06-09
    
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    Abstract
    The operation and maintenance of converter stations (also known as valve halls) in high voltage DC (HVDC) grids is a key element in long-term, reliable and stable operation, especially in inherently adverse offshore environments. However, the nature of the electromagnetic field environment inside HVDC valve halls presents a challenge for the operation of traditional off-shelf inspection robots. In this paper, the impact of the external magnetic field on the operation of an inspection UAV’s propulsion motors is assessed. An experimental method is proposed to simulate the maximum magnetic field interference to off-shelf UAV motors, which can be used to identify their suitability for use in HVDC valve halls inspection robots. The paper’s experimental results compare the performance of direct torque control and field-oriented control algorithms for propulsion motors under the influence of external magnetic flux. Under the influence of a 177 mT external magnetic field, it was found that using direct torque control, the motor rotational velocity steady-state error was up to 55%. With field-oriented control, the steady-state error was 0%, however the peak-to-peak current draw increased by up to 567%.
    Citation
    Robotics, volume 10, issue 2, page e79
    Publisher
    MDPI
    URI
    http://hdl.handle.net/10034/624902
    Type
    article
    Description
    From MDPI via Jisc Publications Router
    History: accepted 2021-06-01, pub-electronic 2021-06-09
    Publication status: Published
    Funder: Engineering and Physical Sciences Research Council; Grant(s): EP/P009743/1
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