Induction motor drive control for Gantry robot position

Bingkun Zhao; Haisheng Yu; Jinpeng Yu; Herong Wu; Xudong Liu; Xu Xu

doi:10.1109/CCDC.2018.8407892

Induction motor drive control for Gantry robot position

Bingkun Zhao, Haisheng Yu^*, Jinpeng Yu, Herong Wu, Xudong Liu, Xu Xu

^*Corresponding author for this work

Qingdao University

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

Abstract

To solve the problem of Gantry robot position control and the poor control effect of its driving motor, a direct torque control method of induction motor where a backstepping controller replaces the traditional PI position controller is proposed. Firstly, the space transformation of robot and its dynamic model are established. To get better control of Gantry robot position system, the backstepping regulator is designed as the outer loop position regulator to obtain the reference electromagnetic torque. Additional, considering the unknown load torque during the operation of induction motor, the load torque observer is designed. The Lyapunov theory shows that the whole system is asymptotically stable. The designed controller can accurately track the reference position and has good dynamic and static performance by simulation. So the problem of Gantry robot position control and the poor control effect of its driving motor can be solved and its application prospect is broad.

Original language	English
Title of host publication	Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4403-4408
Number of pages	6
ISBN (Electronic)	9781538612439
DOIs	https://doi.org/10.1109/CCDC.2018.8407892
Publication status	Published - 6 Jul 2018
Externally published	Yes
Event	30th Chinese Control and Decision Conference, CCDC 2018 - Shenyang, China Duration: 9 Jun 2018 → 11 Jun 2018

Publication series

Name	Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018

Conference

Conference	30th Chinese Control and Decision Conference, CCDC 2018
Country/Territory	China
City	Shenyang
Period	9/06/18 → 11/06/18

Keywords

Backstepping Control
Gantry Robot
Induction Motor
Load Torque Observer
Position Control

Access to Document

10.1109/CCDC.2018.8407892

Cite this

Zhao, B., Yu, H., Yu, J., Wu, H., Liu, X., & Xu, X. (2018). Induction motor drive control for Gantry robot position. In Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018 (pp. 4403-4408). (Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCDC.2018.8407892

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title = "Induction motor drive control for Gantry robot position",

abstract = "To solve the problem of Gantry robot position control and the poor control effect of its driving motor, a direct torque control method of induction motor where a backstepping controller replaces the traditional PI position controller is proposed. Firstly, the space transformation of robot and its dynamic model are established. To get better control of Gantry robot position system, the backstepping regulator is designed as the outer loop position regulator to obtain the reference electromagnetic torque. Additional, considering the unknown load torque during the operation of induction motor, the load torque observer is designed. The Lyapunov theory shows that the whole system is asymptotically stable. The designed controller can accurately track the reference position and has good dynamic and static performance by simulation. So the problem of Gantry robot position control and the poor control effect of its driving motor can be solved and its application prospect is broad.",

keywords = "Backstepping Control, Gantry Robot, Induction Motor, Load Torque Observer, Position Control",

author = "Bingkun Zhao and Haisheng Yu and Jinpeng Yu and Herong Wu and Xudong Liu and Xu Xu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 30th Chinese Control and Decision Conference, CCDC 2018 ; Conference date: 09-06-2018 Through 11-06-2018",

year = "2018",

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day = "6",

doi = "10.1109/CCDC.2018.8407892",

language = "English",

series = "Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

Zhao, B, Yu, H, Yu, J, Wu, H, Liu, X & Xu, X 2018, Induction motor drive control for Gantry robot position. in Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018. Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018, Institute of Electrical and Electronics Engineers Inc., pp. 4403-4408, 30th Chinese Control and Decision Conference, CCDC 2018, Shenyang, China, 9/06/18. https://doi.org/10.1109/CCDC.2018.8407892

Induction motor drive control for Gantry robot position. / Zhao, Bingkun; Yu, Haisheng; Yu, Jinpeng et al.
Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 4403-4408 (Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

TY - GEN

T1 - Induction motor drive control for Gantry robot position

AU - Zhao, Bingkun

AU - Yu, Haisheng

AU - Yu, Jinpeng

AU - Wu, Herong

AU - Liu, Xudong

AU - Xu, Xu

PY - 2018/7/6

Y1 - 2018/7/6

N2 - To solve the problem of Gantry robot position control and the poor control effect of its driving motor, a direct torque control method of induction motor where a backstepping controller replaces the traditional PI position controller is proposed. Firstly, the space transformation of robot and its dynamic model are established. To get better control of Gantry robot position system, the backstepping regulator is designed as the outer loop position regulator to obtain the reference electromagnetic torque. Additional, considering the unknown load torque during the operation of induction motor, the load torque observer is designed. The Lyapunov theory shows that the whole system is asymptotically stable. The designed controller can accurately track the reference position and has good dynamic and static performance by simulation. So the problem of Gantry robot position control and the poor control effect of its driving motor can be solved and its application prospect is broad.

AB - To solve the problem of Gantry robot position control and the poor control effect of its driving motor, a direct torque control method of induction motor where a backstepping controller replaces the traditional PI position controller is proposed. Firstly, the space transformation of robot and its dynamic model are established. To get better control of Gantry robot position system, the backstepping regulator is designed as the outer loop position regulator to obtain the reference electromagnetic torque. Additional, considering the unknown load torque during the operation of induction motor, the load torque observer is designed. The Lyapunov theory shows that the whole system is asymptotically stable. The designed controller can accurately track the reference position and has good dynamic and static performance by simulation. So the problem of Gantry robot position control and the poor control effect of its driving motor can be solved and its application prospect is broad.

KW - Backstepping Control

KW - Gantry Robot

KW - Induction Motor

KW - Load Torque Observer

KW - Position Control

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U2 - 10.1109/CCDC.2018.8407892

DO - 10.1109/CCDC.2018.8407892

M3 - Conference Proceeding

AN - SCOPUS:85050893800

T3 - Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018

SP - 4403

EP - 4408

BT - Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 30th Chinese Control and Decision Conference, CCDC 2018

Y2 - 9 June 2018 through 11 June 2018

ER -

Induction motor drive control for Gantry robot position

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Keywords

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