Robust, direct torque control of induction motor drives in application to industrial manipulator

被引：1
|
作者：
Beniak, R [1 ]
Wach, P [1 ]
Wosik, P [1 ]
机构：
[1] Tech Univ Opole, Dept Elect Engn & Automat Control, Opole, Poland
来源：
ROMOCO'01: PROCEEDINGS OF THE SECOND INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL | 2001年
关键词：
Robust control; manipulator's drive; induction motor;
D O I：
10.1109/ROMOCO.2001.973456
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper analyses the application of the 3-phase small induction motors as the drives for industrial manipulator joints and problems of their control. By introducing the robust control of the whole system, in which the direct torque control (DTC) is applied to driving motors, presented solution is not only realistic but yields high quality of trajectory tracking. The problem is widely illustrated by simulated results of manipulator's operation with that kind of drives including several control system options.
引用
收藏
页码：207 / 212
页数：6
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