Learning Control of Current-Fed Induction Motor with Mechanical Uncertainties
| Authors: | Montanari Marcello, CASY-DEIS, University of Bologna, Italy
Tilli Andrea, CASY-DEIS, University of Bologna, Italy |
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| Topic: | 1.2 Adaptive and Learning Systems |
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| Session: | Iterative Learning Control |
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| Keywords: | induction motor, learning control, position control, system uncertainties, tracking error convergence |
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Abstract
In this paper repetitive learning control technique has been applied to the position/flux tracking control of an Induction Motor (IM) under hypothesis of periodic reference trajectory and uncertainties on the mechanical model. The electro-magnetic IM model has been directly taken into account in the controldevelopment. Indirect Field Oriented approach has been exploited and combined with control actions derived from Lyapunov-like design. In order to compensate the periodic disturbances, the model of a generic periodic signal with known period has been embedded in the controller with a suitable update rule. The convergence properties of the overall solution proposed have been formally proven. Simulation results confirm validity of the approach presented.
