Design, Analysis, and Comparison of Control Strategies for an Industrial Robotic Arm Driven by a Multi-Level Inverter
نویسندگان
چکیده
In this article, we present the design and implementation of different control strategies for position a 2-Degree-of-Freedom (DoF) robotic arm, namely gain scheduling per trenches, by interpolation, adaptive control, fuzzy logic. The first link robot is driven an Alternating Current Brushless Permanent Magnet Motor (ACBPMM) through three-phase multi-level inverter with 27 levels voltage phase. Thanks to topologies offered ACBPMMs inverter, high commutation frequencies are reduced, as observed in computer simulations. Additionally, determine which proposed most suitable ACBPMM connected comparative study on performance controllers implemented conducted.
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ژورنال
عنوان ژورنال: Symmetry
سال: 2021
ISSN: ['0865-4824', '2226-1877']
DOI: https://doi.org/10.3390/sym13010086