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TECHNICAL BRIEFS

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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References

de Wit,  C. Canudas, and Seleme,  S. I., 1997, “Robust Torque Regulation for Induction Motors: The Minimum Energy Approach,” Automatica, 33, pp. 63–79.
Chiaverini, S., Figalli, G., and Fusco, G., 1999, “H Design of a Robust Speed Controller for Induction Motors,” Proc. IEEE Conference on Control Applications, pp. 956–961, Hawaii, HI.
Georges,  D., de Wit,  C. Canudas, and Ramirez,  J., 1999, “Nonlinear H2 and H Optimal Controllers for Current Fed Induction Motors,” IEEE Trans. Autom. Control, 44, pp. 1430–1435.
Vedagarbha, P., Dawson, D. M., and Burg, T., 1966, “Velocity Tracking/Setpoint Control of Induction Motors with Improved Efficiency,” Prep. 13th IFAC World Congress, San Francisco, CA, Vol. F, pp. 37–42.
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Wang,  W. J., and Wang,  C. C., 1998, “Composite Adaptive Position Controller for Induction Motor Using Feedback Linearisation, ” IEE Proc. Control Theory Applications, 145, pp. 25–32.
Benchaib,  A., Rachid,  A., Audretez,  E., and Tadjine,  M., 1999, “Real Time Sliding-Mode Observer and Control of an Induction Motor,” IEEE Trans. Ind. Electron., 46, pp. 128–138.
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Figures

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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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