Potentialities of DTC strategies in position regulation: application to robotics

Abstract

Purpose – This paper is devoted to the investigation of the potentialities of induction motor DTC strategies in position control applications.Design/methodology/approach – A comparison study is carried out between two DTC strategies dedicated to position control applications such as robotic: the Takahashi DTC strategy where the induction motor is fed by a two‐level inverter and a new DTC strategy where the induction motor is fed by a three‐level inverter. Special attention is paid to the synthesis of the vector selection table of the second strategy in an attempt to guarantee a high dynamic with reduced ripple of the torque. The comparison study is achieved considering four performance criteria: phase current total harmonic distortion; inverter switching loss factor; quality factor; and inverter commutation frequency.Findings – It has been found that the introduced DTC strategy offers higher performance than the Takahashi one. Of particular interest are: the reduction of both torque ripple and commutation...