A Study of the Composite Adaptive Servo Controller for Induction Motor

• Main Authors: Wang Chun-Chieh, 王俊傑
• Other Authors: Wen-Jieh Wang
• Format: Others
• Language: zh-TW
• Published: 1997
• Online Access: http://ndltd.ncl.edu.tw/handle/99077638004628199331

博士 === 國立臺灣科技大學 === 電機工程技術研究所 === 86 === A composite adaptive control algorithm based on the input-output linearization is proposed to control the speed and position of the induction motor in th is paper. First, the two-axis mathematical model of the induction motor is derived from the basic three-phase circuit with the coordinate transformation technique, and the input-output linearization method is adopted to decouple the torque dynamics from the rotor flux amplitude. Then, the input prediction error and the output tracking error are used to design the composite adaptation law. The overall system is verified to be stable and robust to the mechanical parameter variations and load torque disturbances by the Barbalat lemma and Lyapunov theory. For a sensorless speed controller, the rotor flux command and the feedback signal are used to designed a parallel structured flux observer, which is robust to the dc offset of the feedback signal, and the rotor speed is calculated directly from the estimated rotor flux and the feedback signal. Finally, the C language is used to implement the proposed control algorithm on a PC-586, which is the main controller of the speed and position control system. Experimental results are provided to demonstrate the effectiveness of the presented approach. Since the composite adaptation law contains the prediction error, which has the effect to avoid the controller parameter divergence as the control input saturation happens and speed up the tracking error convergence rate at steady state, good speed and position tracking capability and load regulating responses can be obtained by the proposed composite adaptive controller.