Induction Motor Drive Control for Gantry Robot Position

被引：0

作者：

Zhao, Bingkun ^{[1
]}

Yu, Haisheng ^{[1
]}

Yu, Jinpeng ^{[1
]}

Wu, Herong ^{[1
]}

Liu, Xudong ^{[1
]}

Xu, Xu ^{[1
]}

机构：

[1] Qingdao Univ, Coll Automat & Elect Engn, Qingdao 266071, Peoples R China

来源：

PROCEEDINGS OF THE 30TH CHINESE CONTROL AND DECISION CONFERENCE (2018 CCDC) | 2018年

关键词：

Gantry Robot Induction Motor; Backstepping Control; Position Control; Load Torque Observer;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To solve the problem of Gantry robot position control and the poor control effect of its driving motor, a direct torque control method of induction motor where a backstepping controller replaces the traditional PI position controller is proposed. Firstly, the space transformation of robot and its dynamic model are established. To get better control of Gantry robot position system, the backstepping regulator is designed as the outer loop position regulator to obtain the reference electromagnetic torque. Additional, considering the unknown load torque during the operation of induction motor, the load torque observer is designed. The Lyapunov theory shows that the whole system is asymptotically stable. The designed controller can accurately track the reference position and has good dynamic and static performance by simulation. So the problem of Gantry robot position control and the poor control effect of its driving motor can be solved and its application prospect is broad.

引用

页码：4403 / 4408

页数：6

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