Sliding Mode Control For Current Loop in a Induction Motor Applied in Robot Arm

Eber de C. Diniz; Antonio B.S. Júnior; Dalton A. Honório; Luiz H.S.C. Barreto; Laurinda L. N. dos Reis

doi:10.18618/REP.2012.4.671680

Authors

Eber de C. Diniz Federal University of Ceará (UFC-DEE), Ceará - Brazil
Antonio B.S. Júnior Federal University of Ceará (UFC-DEE), Ceará - Brazil
Dalton A. Honório Federal University of Ceará (UFC-DEE), Ceará - Brazil
Luiz H.S.C. Barreto Federal University of Ceará (UFC-DEE), Ceará - Brazil
Laurinda L. N. dos Reis Federal University of Ceará (UFC-DEE), Ceará - Brazil

DOI:

https://doi.org/10.18618/REP.2012.4.671680

Keywords:

Digital Signal Processor, Induction Motor Drives, Manipulators, PI Controllers, sliding mode control

Abstract

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.

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Author Biographies

Eber de C. Diniz, Federal University of Ceará (UFC-DEE), Ceará - Brazil

was born in Salvador, Brazil, in 1977. He received the B.Sc. degree in electrical engineering from the Federal University of Ceará, Fortaleza, Brazil, in 2003 and the B.Sc. degree in electrical engineering in 2006 from the same university. He currently serves as assistant professor at the Federal University of Ceará, Sobral, Brazil at the Department of Electrical Engineering. His areas of interest are Predictive Control, Optimal Control, Robust Control, Electrical Machines, Power Electronics, Embedded Systems, Control applied to Power Generation, and Vector Control.

Antonio B.S. Júnior, Federal University of Ceará (UFC-DEE), Ceará - Brazil

was born in Fortaleza in 1984. He received the B.Sc. degree in Control and Automation Engineering from the University of Fortaleza, Fortaleza, Brazil in 2007, and also the M.Sc. degree in Electrical Engineering from the Federal University of Ceará, Fortaleza, Brazil in 2010. Currently he is PhD student at the Federal University of Ceará. His interest areas are Electrical Machines Drives, Power Electronics, Vector Control, and Robotics.

Dalton A. Honório, Federal University of Ceará (UFC-DEE), Ceará - Brazil

was born in Fortaleza, Brazil, in 1988. He received the B.Sc. degree in Electrical Engineering from the Federal University of Ceará, Fortaleza, Brazil, in 2010. He is currently pursuing the M.Sc. degree in Electrical Engineering at the same university and, acting as a researcher for CNPq at the same institution, working on the development of AC machine drive for robotic applications.

Luiz H.S.C. Barreto, Federal University of Ceará (UFC-DEE), Ceará - Brazil

was born in Navirai, Brazil. He received the B.S. degree in Electrical Engineering from the Federal University of Mato Grosso, Cuiabá, Brazil, in 1997, and the M.S. and Ph.D. degrees from the Federal University of Uberlandia, Uberlandia, Brazil, in 1999 and 2003, respectively. Since June 2003, he has been with the Department of Electrical Engineering, Federal University of Ceará, Fortaleza, Brazil, where he is currently a Professor with the Department of Electrical Engineering. His research interests include high-frequency power conversion, modeling and control of converters, power factor correction circuits, new converter topologies, uninterruptible power system systems, and fuel cells.

Laurinda L. N. dos Reis, Federal University of Ceará (UFC-DEE), Ceará - Brazil

received the B.Sc. degree in Electrical Engineering from the Federal University of Ceará, Fortaleza, Brazil in 1979, and the M.Sc. degree in Electrical Engineering from the Federal University of Paraíba, Campina Grande, Brazil in 1984, respectively. She obtained the Ph.D. degree degree in Electrical Engineering from the Federal University of Santa Catarina, Florianópolis, Brazil in 2008. She has been a professor with the Federal University of Ceará, Fortaleza, Brazil since 1979. Her research interest areas are electric machinery, electric machine drives, advanced techniques for electromechanical systems, and nonlinear systems.

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