Controle de posição da junta de manipulador cilíndrico acionado por motor de indução trifásico com transmissão flexível e otimização conjunta de sintonia

Abstract

This work investigates the position control of the base rotational joint of a cylindrical manipulator driven by a three-phase induction motor with a flexible mechanical transmission, with emphasis on the systematic tuning of controllers. The electromechanical system is modeled in an integrated manner, including the three-phase induction motor under Indirect Field-Oriented Control (IFOC), the manipulator dynamics, and the elastic motor-load coupling represented by a two-mass model derived from the Euler-Lagrange formulation. The study focuses on the influence of flexible mechanical coupling on control performance and on the systematic determination of controller parameters using metaheuristic and probabilistic optimization methods. Different cascaded control architectures combining P and PI controllers with Adaptive Sliding Mode Control (ASMC) are evaluated, both in sensored operation and in sensorless configuration using a Sliding Mode Observer (SMO). Additionally, the influence of measurements obtained from a non-ideal incremental encoder on the quality of state feedback is considered. The results show that transmission elasticity introduces resonant modes that significantly degrade performance when conventional controller parameters are used. Systematic optimization-based tuning improves the trade-off between response speed, accuracy, and robustness, and allows the identification of operating regions in which PID controllers achieve performance comparable to robust control strategies, as well as conditions in which ASMC provides significant advantages under parametric uncertainties and external disturbances.