Position Control Of Gantry Robot Based On Induction Motor Drives Drives

In traditional research,many robot control methods only study robot dynamics but the driving motor is ignored.The control method of the Cartesian robot model and the motion control of the drive motor are comprehensively studied in my paper.The reliability of the asynchronous motor is high and the cost is low.Therefore,this study uses the asynchronous motor as the drive motor of the Cartesian coordinate robot to achieve high-precision servo control.Nonlinearity and uncertainty often bring many difficulties to the control research of robots.In order to solve this problem,the gantry robot is taken as the research target and the asynchronous motor is applied as the driving motor of the robot.In this paper,the backstep method is applied in the robot control,which overcomes the shortcomings of the previous robot PD control method parameters and ensures the stability of the system.After the torque current conversion,based on the vector control,the sliding mode control method is selected in the inner loop current controller of the motor.The simulation results show that the designed robot control system has better performance.For the purpose of enhancing the system stability and simplify the motor control strategy,a direct-torque control method for PCH and asynchronous motor of a rectangulararc robot is studied.Considering that the PCH method is more stable in many systems,applying this method to the robot position controller design can also ensure the stability of position control.The DTC control method is used for the motor to avoid the torque current conversion link.The torque and flux linkage can be directly controlled.The internal torque and flux linkage controller design is adopted by sliding mode control,which overcomes the shortcomings of the traditional DTC control.The simulation results show that compared with PD + hysteresis control,the system has better performance.The performance of the robot in the practical application always shows disadvantages because of the various external disturbances.Being able to accurately and quickly track input values and have better anti-disturbance capability is a must-have performance requirement for a good robotic system.In this article,the load torque observer is introduced on the basis of the first two schemes to improve the system disturbance suppression capability.The robot body is regarded as the motor shaft load,so the motor shaft load torque observer is designed.The simulation results show that the observer has obvious effects and the system disturbance suppression ability is very strong.Finally,in order to verify the actual application effect,the experiment is verified on the Links-RT platform.In summary,this study combines robot dynamics with motor control by designing different control methods,and the control effect is good,and the disturbance suppression ability is very good,meeting the design requirements.