Tracking Control Technique for Induction Motors

This paper presents a novel application of the Tracking Control Technique to the induction motor drive systems. By the proposed technique, the position or the speed of the rotor can follow a preselected track (a time history of rotor position or velocity). An algorithm for the design of the tracking controller is developed. The induction motor model and the controller are modified to allow for the inclusion of the nonlinear modes in the system without excessive computations. A simple and realistic criterion for selecting the proper reference tracks during starting, speed control and braking is proposed. The controller developed in this paper is tested on a full-size nonlinear analog simulator. All test results show the effectiveness of the proposed scheme in the position tracking applications such as robotic and manipulations.