The Use of Real-World Computer Models for Computer-Aided Design of TrackingControl Schemes for Induction Motors.

The design of tracking controllers for induction motors is usually developedby neglecting the presence of power-supply devices, such as inverters, andmeasurement apparatuses, e.g., encoders. However, these components representunmodeled dynamics that are present during the real operating conditions ofthe induction motor. Since the development of a numerical simulation studyrepresents a low-cost, safe, and fast test to validate the design of trackingcontrol schemes, the need arises to build a computer model of the overallsystem (i.e., motor, power supply, measurement devices, and tracking controller)as realistic as possible. In this context, the paper describes a computermodel for simulation of an induction motor under a tracking control schemeincluding many real-world effects; namely, encoder's quantization, currentsensors' noise, stator current dynamics, presence of a current-controlledvoltage-source inverter within a stator current regulator loop, flux observerdynamics, saturation of the control signal, and discrete-time implementationof the control algorithm. The developed computer model is finally used ina case study and the simulation results obtained for an induction motor drivinga single-link robotic arm under an H [sub infin;] tracking controlscheme are reported. [ABSTRACT FROM AUTHOR]