AC motor control-application to robotics

A unified algorithm for the synthesis of both AC induction and AC synchronous motor control is presented. A brief analysis reveals that vector control with sliding mode is a suitable choice for the problem: vector control is necessary to provide an independent influence on the electromagnetic and mechanical part of the AC machines, while the sliding mode is the natural regime for any switching converter fed motor. The achieved control structure of the system is very simple and can be easily engineered. Robot and effector position control can be decomposed into coupled scalar problems. The designed AC motor control system can then be applied to each degree of freedom. Exhaustive computer simulation confirmed the proposed approach.