This paper describes a systematic procedure to design position and flux-norm tracking controllers for current-fed induction motors. The designed controllers achieve convergence to zero of both position and flux-norm tracking errors while ensuring robustness with respect to unknown load torque disturbances. The proposed procedure offers the possibility of a simple development of the controllers’ design; in particular, it does not require a numerical solution of the Riccati matrix equation. A case study has been set up which considers the application of the proposed control scheme to a two-link robot manipulator system actuated by two induction motors. Numerical simulation results confirm the validity of the proposed design methodology, even in the presence of rotor resistance uncertainty.
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September 2002
Technical Briefs
Design of Position Tracking Controllers for Current-Fed Induction Motors Used in Articulated Mechanical Loads
Stefano Chiaverini,
Stefano Chiaverini
Dipartimento di Automazione, Elettromagnetismo, Ingegneria dell’Informazione e Matematica Industriale, Universita` degli Studi di Cassino, via G. Di Biasio 43, 03043 Cassino (FR), Italy
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Giuseppe Fusco
Giuseppe Fusco
Dipartimento di Automazione, Elettromagnetismo, Ingegneria dell’Informazione e Matematica Industriale, Universita` degli Studi di Cassino, via G. Di Biasio 43, 03043 Cassino (FR), Italy
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Stefano Chiaverini
Dipartimento di Automazione, Elettromagnetismo, Ingegneria dell’Informazione e Matematica Industriale, Universita` degli Studi di Cassino, via G. Di Biasio 43, 03043 Cassino (FR), Italy
Giuseppe Fusco
Dipartimento di Automazione, Elettromagnetismo, Ingegneria dell’Informazione e Matematica Industriale, Universita` degli Studi di Cassino, via G. Di Biasio 43, 03043 Cassino (FR), Italy
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS. Manuscript Received by the Dynamics Systems and Control Division January 1, 2002. Associate Editor: Y. Chait
J. Dyn. Sys., Meas., Control. Sep 2002, 124(3): 485-491 (7 pages)
Published Online: July 23, 2002
Article history
Received:
January 1, 2002
Online:
July 23, 2002
Citation
Chiaverini , S., and Fusco , G. (July 23, 2002). "Design of Position Tracking Controllers for Current-Fed Induction Motors Used in Articulated Mechanical Loads ." ASME. J. Dyn. Sys., Meas., Control. September 2002; 124(3): 485–491. https://doi.org/10.1115/1.1484397
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