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.
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