Nonlinear observer-based tracking control for induction motors

Author

Yang, Jung Hua ; Yu, Wen Hab ; Fu, Li Chen

Author_Institution

Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan

Volume

2

fYear

1994

fDate

29 June-1 July 1994

Firstpage

1406

Abstract

Proposes a nonlinear observer-based controller for induction motors. Via the use of the skew-symmetrical property of induction motors, a two-stage design technique is applied to construct an observer-based controller for velocity and position tracking control. To demonstrate the effectiveness of the proposed scheme, the scheme is applied to the tracking control of robot manipulators. Simulation results have verified the effective performance of the controller. To implement the proposed scheme for experiment, a voltage-control type of drive system has been set up, which employs two personal computers, PC 486 and PC 286. One is adopted to perform the calculation of the control law and the other is to perform the function of pulse width modulation (PWM) and the generation of gating pulses. Satisfactory experimental studies are also shown in this paper.

Keywords

control system synthesis; induction motor drives; induction motors; machine control; manipulators; microcomputer applications; nonlinear control systems; observers; position control; pulse width modulation; tracking; velocity control; PC 286; PC 486; gating pulses; induction motors; nonlinear observer-based tracking control; position tracking control; pulse width modulation; robot manipulators; skew-symmetrical property; voltage-control type drive system; Computational modeling; Drives; Induction motors; Manipulators; Microcomputers; Pulse width modulation; Robot control; Space vector pulse width modulation; Velocity control; Voltage;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1994

Print_ISBN

0-7803-1783-1

Type

conf

DOI

10.1109/ACC.1994.752291

Filename

752291