AC robotics motor drive performances in a digital signal processing environment: a critical analysis

It is pointed out that variable structure control systems (VSCSs) appear to be very adequate in AC robotics motor drives, where high dynamics responses, insensitivity to parameter variations, and no overshoots are required. However, some practical problems exist when on-off control methods are implemented in a fully digital way, with particular regard to the inner current control loops, even if new-generation digital signal processors are employed. The authors have obtained much better behavior by developing a drive control system starting from a fully digital approach. The results obtained are shown and compared with the results derived with a true VSCS approach