1994 Volume 114 Issue 7-8 Pages 734-740
In this paper, the overall control for high performance AC drives for robotic applications using fuzzy logic is presented. The controller is based on the rotor flux field orientation. To estimate the rotor flux irrespectively of the motor parameters changes (i.e. the stator and rotor resistances variations due to the temperature variations), the estimation is based on two different types of estimators adapting the rotor resistance using a fuzzy logic technique. The controller robustness capability in the case of the inertia variations and of the load torque disturbances is achieved by means of the combination of a fuzzy logic controller and a classical PI controller in the speed loop. The simulation results show excellent performance in any working conditions.