TORQUE REGULATION OF INDUCTION-MOTORS

被引:72
作者
ORTEGA, R [1 ]
ESPINOSA, G [1 ]
机构
[1] NATL AUTONOMOUS UNIV MEXICO, DEPFI, MEXICO CITY 04510, DF, MEXICO
关键词
NONLINEAR CONTROL; AC MOTOR CONTROL; ADAPTIVE CONTROL;
D O I
10.1016/0005-1098(93)90059-3
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
A controller design methodology to solve an output tracking problem for a class of systems described by its Euler-Lagrange equations with less control actions than degrees of freedom was recently presented by Ortega and Espinosa. The procedure is based on the idea of ''shaping'' the total energy of the closed-loop system with the nice feature that it achieves the tracking objective without the need of cancelling dynamics but by associating a natural reference (''steady state'') behaviour for all state variables. In this paper we use the procedure to solve the problem of torque regulation of a nonlinear induction motor model which includes both electrical and mechanical dynamics. We derive a nonlinear state observer plus state feedback control that insures exponential stability provided the desired torque does not exceed a given value. The latter condition can be removed if the motor full state is measurable. An adaptive version of the scheme that does not require exact knowledge of the rotor resistance or load torque is also shown to be asymptotically convergent. Three key features of the proposed scheme are: first, it attains the field orientation objective of the highly successful ''vector control'' strategies. Second, using the energy balance equation of the induction motor, identifies the nonlinear terms that represent ''workless forces'' to avoid (intrinsically nonrobust) exact cancellation of model nonlinearities. Third, the control law calculation is extremely simple and globally defined, thus the strategy is applicable for all motor operation regimes including start-up. Some simulation results illustrate the controller performance.
引用
收藏
页码:621 / 633
页数:13
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