Hovering robot is a QRT(Quad-Rotor Type) with four rotary wings and a helicopter UAV(Unmanned Aerial Vehicle) which monitors and traces dynamic/static risk factors of fire and other catastrophes flying autonomously indoor and outdoor.
The sign received by receiver is changed into electric sign by MCU(Micro-controller) chip and then control directly motor's speed.
In addition, gyro sensors are mounted in X and Y axis direction, thus MCU receives signals from gyro sensors, allocates them into motor to control increase and decrease of four motors' output and corrects automatically left-right and up-down balance.
This study uses changes of PWM frequency to design a BLDC motor controller and embodies it for BLDC motor and hovering robot.
As a result, controller suggested in this study showed stable BLDC motor controlling performance and realization of hovering robot with a capacity of automatic height control.