Design of H∞ Position Tracking Controllers for Current-Fed Induction Motors Used in Articulated Mechanical Loads

[+] Author and Article Information
Stefano Chiaverini, Giuseppe Fusco

Dipartimento di Automazione, Elettromagnetismo, Ingegneria dell’Informazione e Matematica Industriale, Università degli Studi di Cassino, via G. Di Biasio 43, 03043 Cassino (FR), Italy e-mail: {chiaverini,fusco}@unicas.it

J. Dyn. Sys., Meas., Control 124(3), 485-491 (Jul 23, 2002) (7 pages) doi:10.1115/1.1484397 History: Received January 01, 2002; Online July 23, 2002
Copyright © 2002 by ASME
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Block scheme representation of the overall simulated system
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Position tracking errors εθ,1θ,2 and estimated rotor flux norms Φ⁁1,Φ⁁2 in the case of 100% Rr uncertainty
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Estimated rotor flux norms Φ⁁1,Φ⁁2 and load torques Tl,1 and Tl,2
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Desired rotor position trajectories θ1,ref2,ref and position tracking errors εθ,1θ,2
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Desired end-effector path xd (left) and actually followed one x (right)
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Overall block diagram of the control system adopted for each of the two induction motors
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Plot of the functions k1,elel),k2,elel) (left) and k1,fefe) and k2,fefe) (right)
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Plot of the functions x1(λ),|X(λ)| (left), and x1(δ),|X(δ)| (right): case of negative sign chosen in (18), (19) and in (24), (25)




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