Aplicación del formalismo de Lagrangianos Controlados en la regulación de velocidad del motor de inducción trifásico
In this work the Controlled Lagrangian Formalism applied to electrical machines is explored for the first time. It begins with an analysis of the purely mechanical systems, once understood, the study is carried out on a two-phase induction motor, this implying a greater degree of complexity because there is no reference that has done it before. Finally, this study is expanded to the three-phase motor, this being the main research object of the project. The main guide used was the Bloch article cite bloch2000controlled on the analysis of mechanical systems. Regarding the procedure, the first thing that is done is the selection of the generalized coordinates, the Lagrangian is proposed and the model is obtained from it through the Euler-Lagrange equations, followed by that the symmetries are identified (which in the case of MI is especially interesting because these symmetries are obvious from the choice of coordinates) and the configuration space is divided into vertical and horizontal directions, the horizontal directions are redefined and the Controlled Lagrangian is proposed. Finally, generalized forces are sought, using Noether's Theorem as support and thus establishing the control law. The development to obtain the Controlled Lagrangian and the control law is done in detail, explaining each step of the procedure and using specific algebraic methods of this formalism that are strongly based on the geometric structure of the variety of configuration. The results obtained are an approach in the direction of Controlled Lagrangians applied electrical machines.