Abstract
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.
Highlights
Synchronous and induction motors, and it is becoming increasingly attractive for lower performance applications due to its superiority in reducing motor size, as well as power consumption and its related costs [34–38]: Alternating Current Brushless Permanent Magnet Motor (ACBPMM) have permanent magnets that rotate around a fixed armature, eliminating problems associated with connecting current to the moving armature
To determine which proposed control strategies are the most suitable for an ACBPMM connected to a multi-level inverter, a comparative study will be carried out on the performance of the controllers to be implemented for this robot
The dynamic change increases significantly when the robotic arm gains more speed. To tackle this issue across the different operation ranges of the robotic arm, gain scheduling per trenches allows for modifying the parameters of the controller, as shown in Table 2, where the value of the PID controller gains (Kp, Ki, and Kd, respectively) depends on the angular position of the robotic arm (θ1 = 15◦ ; θ2 = 35◦ ; θ3 = 60◦, and θ4 = 75◦ )
Summary
To generate 9 voltage levels, 2 converters with cascaded flying capacitors can be used so only two independent voltage sources are necessary, whereas the cascaded H-bridge configuration requires 4 independent voltage sources The use of these topologies allows for increasing the power of the inverters thanks to the incorporation of more voltage levels without the need of increasing current, reducing. FOC is used to control AC synchronous and induction motors, and it is becoming increasingly attractive for lower performance applications due to its superiority in reducing motor size, as well as power consumption and its related costs [34–38]: ACBPMMs have permanent magnets that rotate around a fixed armature, eliminating problems associated with connecting current to the moving armature. To determine which proposed control strategies are the most suitable for an ACBPMM connected to a multi-level inverter, a comparative study will be carried out on the performance of the controllers to be implemented for this robot
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