DSP-based robust control of an AC induction servo drive for motion control

A design method based on the internal model control (IMC) theory has been developed for the robust control of a low-power ac induction servo drive in application of highperformance motion control system. Indirect vector control with software current control technique has been developed to achieve fast response decoupling control of the induction motor. An equivalent model representing the control dynamics of the decoupled ac induction motor is used for the analysis and synthesis of the IMC controller. To improve the control performance of the servo drive with given frequency-domain robustness specifications, a design procedure for the servo controller is developed based on the IMC theory. The proposed control scheme has been realized using a single-chip digital signal processor (DSP) TMS320C14 from Texas Instruments. Experimental results are given to verify the proposed design method.