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Hybrid position control technique of induction motor drive

Júnior A. B. S., Diniz E. C. de, Honório D. A., Barreto L. H. S. C., Reis L. L. N. dos

Control and Cybernetics

2013

Vol. 42, no. 4

754--772

This paper presents the study and implementation of a new vector control strategy using a hybrid control technique applied to the mechanical position loop aiming to obtain a system that acts in the fractional horsepower motor driver running at near zero frequency. For this purpose, some control techniques are employed to check which one has the best performance regarding this type of application. The use of three control techniques is considered: the Proportional-Integral-Derivative (PID) controller with fixed gain; the Generalized Predictive Control (GPC) controller; and a hybrid controller. The last one behaves as both PID and GPC using fuzzy logic in order to achieve improved system performance. Simulation and experimental results are shown and discussed to demonstrate the merits of the proposed approach.

An elbow planar manipulator driven by induction motors using sliding mode control for current loop

Diniz E. C. de, Júnior A. B. S., Honório D. A., Barreto L. H. S. C., Reis L. L. N. dos

Control and Cybernetics

2012

Vol. 41, no. 2

395-413

The control of a planar elbow manipulator driven by a squirrel-cage induction motor using sliding mode control (SMC) is presented in this paper. The modeling of the manipulator mechanical coupling as a load applied to the induction motor shaft is developed. This has direct influence on both dq currents, which are chosen as the sliding manifold instead of controlling both mechanical and electrical parts as individual processes like most industrial manipulators do. Conventional proportional-integral (PI) controllers are used for each loop, implying easy design procedure and implementation with low computational effort. The system can then be implemented by using a digital signal processor (DSP) and applied in industrial environments. Simulation and experimental results on a real manipulator are shown to validate the proposed control scheme. The results show that there is low steady-state error for the manipulator position.