scholarly journals Design, Analysis, and Comparison of Control Strategies for an Industrial Robotic Arm Driven by a Multi-Level Inverter

Symmetry ◽  
2021 ◽  
Vol 13 (1) ◽  
pp. 86
Author(s):  
Claudio Urrea ◽  
Daniel Jara
Keyword(s):  
Fuzzy Logic ◽  
Adaptive Control ◽  
Computer Simulations ◽  
Control Strategies ◽  
Gain Scheduling ◽  
Robotic Arm ◽  
Permanent Magnet Motor ◽  
Design And Implementation ◽  
Three Phase ◽  
Multi Level

In this article, we present the design and implementation of different control strategies for the position of a 2-Degree-of-Freedom (DoF) robotic arm, namely gain scheduling per trenches, gain scheduling by interpolation, adaptive control, and fuzzy logic. The first link of this robot is driven by an Alternating Current Brushless Permanent Magnet Motor (ACBPMM) through a three-phase multi-level inverter with 27 levels of voltage per phase. Thanks to the topologies offered by ACBPMMs and to the multi-level inverter, high commutation frequencies are reduced, as observed in the computer simulations. Additionally, to determine which proposed control strategies are the most suitable for an ACBPMM connected to a multi-level inverter, a comparative study on the performance of the controllers implemented for this robot is conducted.

scholarly journals Comparison of Conventional and Modified Direct Torque Control of Three-Phase Induction Motor Using Three-Level Flying Capacitor Inverter

2021 ◽  
pp. 431-438
Author(s):  
Amirah J. Mohammed ◽  
◽  
Raaed F. Hassan
Keyword(s):  
Induction Motor ◽  
Control Strategies ◽  
Direct Torque Control ◽  
Torque Control ◽  
Switching Frequency ◽  
Space Vector ◽  
The Third ◽  
Three Phase ◽  
Multi Level ◽  
Vector Modulation

The work presented in this paper aims to compare the effectiveness of different control strategies to improve the performance of the three-phase Induction Motor (IM). The Conventional Direct Torque Control (CDTC) was employed as the first strategy for driving the IM. This control strategy causes high ripples in the IM's torque and speed due to the hysteresis comparators and a variable switching frequency due to the look-up table. A modified DTC strategy based on Space Vector Modulation (DTC-SVM) was chosen as a second strategy to enhance the performance of the IM using the two-level inverter. This method, which leads to the reduction of the torque and speed ripples and achieves constant switching frequency. As the multi-level inverter becomes most popular than the two-level inverter, the third strategy is devoted to adopting the three-level flying capacitor inverter (TLFCMLI) -based DTC-SVM. The third strategy uses the method of mapping the multi-level space vector based on basic two-level SVM. Matlab/Simulink software package is utilized to implement the suggested controllers. Simulation results show that the DTC-SVM based on TLFCMLI significantly enhances the IM's performance compared with the other two strategies from the voltage and current profiles, torque, and speed points of view.

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