In this article, we present the design and implementation of different control strategies for the position of a 2-Degree-of-Freedom (DoF) robotic arm, namely gain scheduling per trenches, gain scheduling by interpolation, adaptive control, and fuzzy logic. The first link of this robot is driven by an Alternating Current Brushless Permanent Magnet Motor (ACBPMM) through a three-phase multi-level inverter with 27 levels of voltage per phase. Thanks to the topologies offered by ACBPMMs and to the multi-level inverter, high commutation frequencies are reduced, as observed in the computer simulations. Additionally, to determine which proposed control strategies are the most suitable for an ACBPMM connected to a multi-level inverter, a comparative study on the performance of the controllers implemented for this robot is conducted.

中文翻译：

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多电平变频器驱动的工业机器人手臂控制策略的设计，分析和比较

在本文中，我们介绍了针对2自由度（DoF）机械臂位置的不同控制策略的设计和实现，即每个沟槽的增益调度，通过插值进行的增益调度，自适应控制和模糊逻辑。该机器人的第一条链环由交流无刷永磁电动机（ACBPMM）通过三相多电平逆变器驱动，每相具有27个电压电平。正如计算机仿真中所观察到的，由于ACBPMM提供的拓扑结构以及多电平逆变器，高换向频率得以降低。此外，为了确定哪种拟议的控制策略最适合连接到多级逆变器的ACBPMM，针对此机器人实现的控制器性能进行了比较研究。