Indirect field-oriented control of induction motors is globally asymptotically stable when used to regulate position in rigid robots

被引：4

作者：

Hernandez-Guzman, Victor M. ^{[1
]}

Santibanez, Victor ^{[2
]}

Silva-Ortigoza, Ramon ^{[3
]}

机构：

[1] Univ Autonoma Queretaro, Fac Ingn, Queretaro 76150, Qro, Mexico

[2] Inst Tecnol Laguna, Div Estudios Posgrado & Invest, Torreon 27001, Coahuila, Mexico

[3] CIDETEC IPN, Dept Posgrado, Area Mecatron, Unidad Profes Adolfo Lopez Mateos, Mexico City 07700, DF, Mexico

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2010年 / 83卷 / 10期

关键词：

position regulation; robot manipulators; induction motors; Lyapunov stability; indirect field-oriented control; BRUSHLESS DC-MOTORS; TUNING PROCEDURE; PID CONTROL; MANIPULATORS; DRIVEN;

D O I：

10.1080/00207179.2010.510174

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this note we prove, for the first time, that indirect field-oriented control of voltage-fed induction motors achieves global asymptotic stability when used to regulate position in rigid robots. This results in the simplest controller proposed until now to solve this problem. Our stability analysis considers inner current loops driven by linear PI controllers and an external position loop driven by a saturated PD controller.

引用

页码：2153 / 2164

页数：12

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