Hybrid position controller for an indirect field-oriented induction motor drive

Abstract

This paper presents the study and implementation of a hybrid position controller for an indirect field-oriented induction motor drive. In order to improve the position tracking performance of an induction motor drive, a design procedure of a hybrid controller is developed based on the conventional Proportional (P) controller and the Generalized Predictive Control (GPC) controller. The fuzzy logic is utilized to achieve the hybridization between the P and GPC controllers. The P is adopted because its parameter values can be simple chosen with an aggressive tuning (fast response), while the GPC controller enhances the robustness and has a moderate controller action. Then, the position control loop is regulated with the hybrid controller, while the speed and currents loops incorporate PI (Proportional Integral) controllers. The proposed controller, simulations, implementation data, and test results with step, trapezoidal, triangular position profiles and step change in load, are given, discussed and verified. It is shown that the proposed position hybrid controller has a fast tracking capability to industrial robotics applications and it is robust to load disturbance.