Loading...
Please wait, while we are loading the content...
Seguimiento de trayectorias de un robot manipulador de dos grados de libertad equipado con PMSM's usando un controlador PD
| Content Provider | Semantic Scholar |
|---|---|
| Author | Rincón, Alejandra |
| Copyright Year | 2017 |
| Abstract | In this work was realized the mathematical stability proof of trajectory tracking for a robot manipulator with two degrees of freedom with a PD control with feedforward compensation when the electric dynamic of the actuator is explicitly considered (PMSM - Permanent Magnet Synchronous Motor), to avoid the instability in close loop. These controllers require speed measurements, which are obtained replacing the numeric differentiation by a high-pass filter which is located in the PD controller. Therefore, considering the dynamics of the actuator, acceleration measurements will not be needed when the analysis is done. The control scheme is based in the field oriented control (FOC), which has two PI controllers to control the current of two motors. In addition, in this work the tuning rules for the controllers are settled and simulations of the dynamics of the system were done in MATLAB (with variations in the parameters) to show stability in the system. Finally, it will be good highlight that this work is extended to n degrees of freedom and the PMSM model considered is the outgoing rotor (Lq ? Ld). |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://ri.uaq.mx/bitstream/123456789/6761/1/RI004707.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
