Synthesis of a State Variable Motion Controller for High Performance Field Oriented Induction Machine Drives

Neither modern control theory nor induction machine control theory are widely used In high performance motion control systems. With the advent of field oriented Induction machine drives and wide bandwidth PWM amplifiers, however, it Is possible to apply both technologies to improve system performance. This paper takes the resonant load problem typical of robotic mechanisms and investigates the use of both technologies to solve this motion control problem. The paper examines the theoretical capabilities of the two bodies of theory and develops a general approach to state variable motion control synthesis for field oriented induction machine drives. The theoretical performance is examined using both simulations and an experimental resonant load test stand. A robust solution to the general problem of resonant loads is both developed and demonstrated.