Global PID Control of Robot Manipulators Equipped with PMSMs

被引：36

作者：

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

Orrante-Sakanassi, J. ^{[2
]}

机构：

[1] Univ Autonoma Queretaro, Ctr Univ, Fac Ingn, Cerro Campanas, Queretaro 76010, Qro, Mexico

[2] CONACYT Tecnol Nacl Mexico, Div Estudios Posgrad & Invest, Inst Tecnol Hermosillo, Av Tecnol S-N, Hermosillo 83170, Sonora, Mexico

来源：

ASIAN JOURNAL OF CONTROL | 2018年 / 20卷 / 01期

关键词：

Permanent magnet synchronous motors; robot manipulators; PID control; field oriented control; Lyapunov stability; MAGNET SYNCHRONOUS MOTOR; BRUSHLESS DC MOTORS; TRACKING CONTROL; DRIVEN;

D O I：

10.1002/asjc.1532

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper is concerned with PID position regulation of robot manipulators actuated by permanent magnet synchronous motors (PMSMs). We present a global asymptotic stability proof when the electric dynamics of these actuators is taken into account. Our controller is so simple that it differs from standard field oriented control (SFOC) of PMSMs in only three simple nonlinear terms that have to be added and a nonlinear PID controller which is used instead of a classical PID controller. Thus, our proposal represents the closest result to SFOC of PMSMs provided with a formal global asymptotic stability proof. We present an advancement, if modest, towards presenting a global stability proof for SFOC when used in robotics.

引用

页码：236 / 249

页数：14

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