This master„s thesis elaborates with EC motors problematic. There are described essential features of brushless DC motors, their principles, construction and methods for rotor position detection. There are mentioned commonly used control algorithms of EC motors including theory of three-phase convertors. This thesis also contains a complex design of the universal convertor for EC motor and its practical implementation. Power parts losses calculation, heat-sink calculation and measurements at the convertor prototype are also described in this thesis.

Optical microcavities (OMs) are receiving increasing attention owing to their potential applications ranging from cavity quantum electrodynamics, optical detection to photonic devices. Recently, rolled-up structures have been demonstrated as OMs which have gained considerable attention owing to their excellent customizability. To fully exploit this customizability, asymmetric and topological rolled-up OMs are proposed and investigated in addition to conventional rolled-up OMs in this thesis. By doing so, novel phenomena and applications are demonstrated in OMs. The fabrication of conventional rolled-up OMs is presented in details. Then, dynamic mode tuning by a near-field probe is performed on a conventional rolled-up OM. Next, mode splitting in rolled-up OMs is investigated. The effect of single nanoparticles on mode splitting in a rolled-up OM is studied. Because of a non-synchronized oscillating shift for different azimuthal split modes induced by a single nanoparticle at different positions, the position of the nanoparticle can be determined on the rolled-up OM. Moreover, asymmetric rolled-up OMs are fabricated for the purpose of introducing coupling between spin and orbital angular momenta (SOC) of light into OMs. Elliptically polarized modes are observed due to the SOC of light. Modes with an elliptical polarization can also be modeled as coupling between the linearly polarized TE and TM mode in asymmetric rolled-up OMs. Furthermore, by adding a helical geometry to rolled-up structures, Berry phase of light is introduced into OMs. A -π Berry phase is generated for light in topological rolled-up OMs so that modes have a half-integer number of wavelengths. In order to obtain a deeper understanding for existing rolled-up OMs and to develop the new type of rolled-up OMs, complete theoretical models are also presented in this thesis.

Ce travail de recherche s'intéresse à la commande sans capteur mécanique du moteur synchrone à aimants permanents (MSAP) à pôles saillants, particulièrement en basse vitesse, avec détection de la position initiale du rotor. Après une présentation des techniques et approches qui ont initié nos travaux, en terme d'estimation de la vitesse et/ou de la position, nous avons choisi celles qui présentent plus d'intérêt de point de vue stabilité, robustesse, précision et simplicité d'implémentation. La première approche est basée sur le Système Adaptatif avec Modèle de Référence (MRAS). Quant à la deuxième, elle est réalisée autour d'un observateur non-linéaire pour l'estimation de la position et de la vitesse du MSAP à pôles saillants. Les deux techniques d'observation de la vitesse sont associées à une commande par orientation du flux rotorique avec la technique MLI vectorielle. Pour détecter la position initiale du rotor, nous avons utilisé une nouvelle approche qui permet d'estimer cette position avec une incertitude de ±5° mécanique. Cette nouvelle approche est basée sur l'application de signaux tests aux bornes des phases statoriques du MSAP. Des résultats de simulation et expérimentaux sont présentés tout au long de ces travaux pour valider les études théoriques de la commande vectorielle sans capteur mécanique du MSAP. Enfin, nous avons étudié et analysé les performances de la commande tolérante aux défauts sans capteur mécanique du MSAP en présence de défaillances de types transistors à l'état-off. / This research focuses on the sensorless vector control of a salient pole permanent magnet synchronous motor (PMSM), particularly at low speed, with detection of the initial rotor position. In first step, an overview of the state of the art concerning the estimation of the rotor speed as well as the initial rotor position of PMSM is addressed. From such a study, we have adopted an interesting strategy based on the model reference adaptive system (MRAS). The second step in this research consists in studying the performances and the feasibility of a non-linear observer for closed-loop vector control of salient pole PMSM. The MRAS technique as well as the non-linear observer is associated to a vector control scheme based on the field oriented strategy with space vector pulse width modulation (SVPWM). To detect the initial rotor position, we have proposed a new approach which estimates the position with a resolution of ±5° mechanical degrees. This new approach is based on applying short voltage pulses to the stator winding of salient pole PMSM. Several simulation and experimental results are presented to confirm the theoretical studies of the sensorless vector control of the salient pole PMSM drive. Finally, we have analyzed the performances of the sensorless speed fault tolerant control (FTC) of salient pole PMSM under failures related to the voltage source inverter (open circuit fault). The experimental results obtained based on the proposed techniques using nonlinear and MRAS observers have been improved in term of the reliability and allow a continuous operation of the salient pole PMSM drive even when it is supplied with two inverter legs.

Drones are widely used in different applications, with different models, like quadcopters, or military drones. But so far little has been done in sports regarding performance analysis, based on this, the aim of this work is to present a position detection in Ultimate Frisbee using drones. / Drohnen sind in verschiedenen Anwendungen weit verbreitet, mit unterschiedlichen Modellen, wie Quadcoptern oder Militärdrohnen. Bisher wurde im Sport jedoch nur wenig in Bezug auf die Leistungsanalyse unternommen, weshalb das Ziel dieser Arbeit darin besteht, eine Positionserkennung im Ultimate Frisbee mit Hilfe von Drohnen zu präsentieren.