Decentralized Control of Rigid Robots Driven by Current-Fed Induction Motors

2002 ◽  
Vol 124 (4) ◽  
pp. 549-553 ◽  
Author(s):  
Gerardo Guerrero-Ramı´rez ◽  
Yu Tang
Keyword(s):  
Induction Motor ◽  
Decentralized Control ◽  
Closed Loop ◽  
Induction Motors ◽  
Control Technique ◽  
Parameter Uncertainties ◽  
Flux Observer ◽  
Current Controller ◽  
Local Measurements ◽  
Rotor Flux

The problem of controlling a rigid manipulator driven by induction motors to follow a desired trajectory using the decentralized control technique is considered in this paper. Parameter uncertainties of the rigid robot are considered. First, a PI controller is used to force an induction motor to work in the current-command mode, then based on a fourth-order reduced model of induction motors, a current controller is proposed using only local measurements of each link (link position, velocity and stator currents of the induction motor). The rotor flux is estimated through a closed-loop observer. Provided that the flux observer is properly initialized, this controller is singularity-free and guarantees the uniform ultimate stability of the closed-loop system. Simulations are presented to illustrate the performance of this controller.

A Rotor Flux Observer Based on Nonlinear Quadrature Double Compensation

2011 ◽  
Vol 128-129 ◽  
pp. 25-29
Author(s):  
Bo Fan ◽  
Xing Li ◽  
Jie Xin Pu ◽  
Jian Wei Ma ◽  
Ju Wei Zhang
Keyword(s):  
Induction Motor ◽  
Electromotive Force ◽  
Signal Frequency ◽  
Quick Response ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Flux Observer ◽  
Low Pass ◽  
Rotor Flux ◽  
Order Change

In order to solve the problem of integration saturation drift and hardship in compensation quantity calculation exist in rotor flux observation of induction motor, a rotor flux observer based on nonlinear quadrature double compensation method is presented in this paper. The quantity of compensation is determined dynamically according to the quadrature level between flux and back electromotive force. Through the order change of compensation and low-pass filter, quick response of flux when signal frequency leaps is realized. The simulation result shows that the method can improve the flux waveform, realize the accurate and swift track of flux.

Rotor flux observer for induction motor using full-order terminal sliding-mode

2021 ◽  
Author(s):  
Hongyu Su ◽  
Minghao Zhou ◽  
William Cai ◽  
Siwei Cheng ◽  
Hanying Gao
Keyword(s):  
Induction Motor ◽  
Sliding Mode ◽  
Terminal Sliding Mode ◽  
Flux Observer ◽  
Rotor Flux

scholarly journals Technological Advances of Speed Control of Induction Motor with PI and Fuzzy Logic Controllers

2020 ◽  
Vol 8 (6S) ◽  
pp. 41-45
Keyword(s):  
Fuzzy Logic ◽  
Induction Motor ◽  
Fuzzy Logic Controller ◽  
Induction Motors ◽  
Control Technique ◽  
Fuzzy Logic Controllers ◽  
Technological Advances ◽  
Three Phase ◽  
Soft Computing Techniques ◽  
Recent Trends

At the present scenario, three-phase induction motors (IM) are having wide applications in the industries. So, the need for an effective controlling technique is compulsory. Various techniques are there to control the speed of IM. Soft computing techniques are having in a great improvement in the recent trends. This paper discusses on the scalar control technique of induction motor for conventional PI and fuzzy logic controller. The performance of an induction motor is simulated using MATLAB/Simulink with PI and fuzzy controllers, the results are analyzed and the techno feasibility of both the controllers is presented in detail. Torque-speed (T-N) characteristics of an induction motor for a traditional PI model are considered and compared with rules-based fuzzy logic

scholarly journals Sensor less Speed Estimation of an Foc Induction Motor Drive using Mras Speed Controller and Fuzzy Current Controller

2019 ◽  
Vol 8 (10) ◽  
pp. 4657-4661
Keyword(s):  
Induction Motor ◽  
Reactive Power ◽  
Motor Drives ◽  
Operating Conditions ◽  
Induction Motor Drives ◽  
Speed Controller ◽  
Current Controller ◽  
Wide Range ◽  
Rotor Flux ◽  
Speed Estimator

This paper mainly presents fuzzy current controller depending on speed estimator of MRAS with field oriented controlled induction motor drives. This paper consists of three main techniques used for configurations of MRAS speed estimators that is Rotor Flux, Back - EMF and Instantaneous Reactive power. The MRAS estimators are then included into a direct field oriented controller and also a comparison is done between PI and fuzzy current controllers completely tested on MATLAB/SIMULINK. The resulting controller achieves an acceptable level of execution over wide range of good operating conditions

scholarly journals MODELING AND SIMULATION OF ROTOR FLUX OBSERVER BASED INDIRECT VECTOR CONTROL OF INDUCTION MOTOR DRIVE USING FUZZY LOGIC CONTROL

2014 ◽  
pp. 241-246
Author(s):  
B. MOULI CHANDRA ◽  
S.TARA KALYANI
Keyword(s):  
Fuzzy Logic ◽  
Induction Motor ◽  
Fuzzy Logic Control ◽  
Fuzzy Logic Controller ◽  
Rule Base ◽  
Flux Observer ◽  
Logic Control ◽  
Rotor Flux ◽  
Proportional Integral Controller ◽  
Inductor Motor

The indirect vector controlled inductor motor (IM) drive involves decoupling of the stator current into torque and flux producing components. This paper proposes the implementation of fuzzy logic control scheme applied to a two d-q current components model of an induction motor. A Fuzzy logic Controller is developed with the help of knowledge rule base for efficient and robust control. The performance of Fuzzy Logic Controller is compared with that of the PI controller with rotor flux observer in terms of the settling time and dynamic response to sudden load changes. The harmonic pattern of the output current is evaluated for both fixed gain proportional integral controller and the Fuzzy Logic based controller. The performance of the IM drive has been analyzed under steady state and transient conditions. Simulation results of both the controllers are presented for comparison.

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