Speed and flux control of three-phase AC induction motor with uncertain parameters using a speed estimator

This paper presents a speed and flux estimation method for speed control of three-phase AC motors in robot manipulators. Furthermore, we find how to combine the speed and flux estimation method with the control algorithm of the speed and flux using artificial neural network (ANN) to enhance the performance of AC motors when there are uncertain parameters in the motor´s dynamic model such as rotor resistor, inertial moment, friction coefficients, as well as load changes when the system operates. Matlab-Simulink simulation results are given to demonstrate the validity of the proposed control method.