Experimental Study on Brushless Motor Control Using MPU6050

Abstract

This article discusses the issues of controlling the A2212/13T brushless motor by the MPU6050 module, which serves to stabilize the flight of a small-sized unmanned aerial vehicle. A brief summary of the design of this type of aircraft is given, as well as the placement of hardware and propulsion systems in it. Experimental studies were conducted to implement the hardware with brushless motors. To implement engine control, a circuit was initially created for connecting the Atmega328 microcontroller to the MPU6050 module, which is an accelerometer-gyroscope sensor and firmware using the FDTI programmer. The operating principle of this module and its connection are briefly described. Raw data taken from the accelerometer and gyroscope in real time were obtained, a Kalman filter was applied to this data for processing them, an algorithm for controlling the engine depending on the module rotation angle was compiled. Based on the results obtained, the dependences of the module rotation angle on the pulse width emanating from the microcontroller were determined for the first time. It was found that when the module is tilted at an angle from 0 to 40 degrees, the pulse width changes from 300 to ~750 µs.