Control of an Induction Motor Driving a Flexible-Robot for Trajectory Tracking

Resumen: This work presents a tracking control of a Flexible-Robot being actuated by a three phase induction motor, assuming a system control without perturbation and the case where a periodic pulse perturbation input is applied. Previous research about Flexible-Robot consider a dc motor to drive the joint. Induction Motors depict an alternative to be used as actuator, their main advantage is due to the minor cost in both the purchase and maintenance, but their nonlinear dynamics to set control is a challenge. The dynamic model of a joint-flexible-robot is combined with the induction motor dynamics. A control law is introduced to track a desired trajectory. This control input is used like the reference torque for the induction motor. Through the Simpson's 1/3 rule, the gain tuning for the tracking controller is given by minimizing the integral of time-weighted absolute error (ITAE). Simulations show the effectiveness of the controller proposed.

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Felipe J. Torres, Juan P. Ramírez, Ricardo Zavala-Yoe, Gerardo V. Guerrero, Carlos D. García & Juan Mota. Control of an Induction Motor Driving a Flexible-Robot for Trajectory Tracking. Memorias del Congreso Nacional de Control Automático, pp. 346-351, 2019.

Palabras clave

Robótica y Mecatrónica, Control de Sistemas No Lineales, Sistemas Electromecánicos

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