Port-Controlled Hamiltonian and Sliding Mode Control of Gantry Robot Based on Induction Motor Drives | Zendy

Bingkun Zhao | Zendy; Haisheng Yu | Zendy; Jinpeng Yu | Zendy; Xudong Liu | Zendy; Herong Wu | Zendy

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Port-Controlled Hamiltonian and Sliding Mode Control of Gantry Robot Based on Induction Motor Drives

Author(s) -

Bingkun Zhao,

Haisheng Yu,

Jinpeng Yu,

Xudong Liu,

Herong Wu

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2862637

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

A port-controlled Hamiltonian (PCH) control approach is presented to solve the position tracking problem of gantry robot based on induction motor (IM) drives. First, a robot model is established. Second, a PCH controller is designed to realize accurate position tracking of a gantry robot. For IM drives, it is convenient to choose a direct torque control strategy based on the sliding mode control, which overcomes the higher ripples of torque and flux. Third, a voltage reconstruction technique is introduced to calculate the stator voltage of the IM, which replaces the stator voltage measurement of the IM. Finally, the load torque observer is developed to estimate an unknown load torque. The asymptotic stability of the robot system is proved by the Lyapunov stability theory. Simulation results indicate that the system has excellent position tracking performances and load disturbance attenuation ability.

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