This paper presents a speed control of one robotic manipulator joint driven by a three-phase induction motor (IM) that uses space vector modulation based on pulse width modulation (SVPWM). Three metaheuristic algorithms are considered: genetic algorithm (GA), differential evolution (DE) and classical particle swarm optimization (PSO). Furthermore, in this paper, the Quick PSO algorithm is proposed to obtain an improvement from PSO. These techniques are considered in order to achieve an optimized tuning for proportional-integral-derivative (PID) controllers in the speed control of the IM-SVPWM. The optimization procedure is performed through computational simulation. Once obtained, the optimized parameters are applied in a practical system that uses a digital signal processor. Experimental results validate the proposed approach, comparing it to other tuning methods of PI and PID controllers, such as GA, PSO and DE.

本文介绍了一种由三相感应电机 (IM) 驱动的机器人机械手关节的速度控制，该电机使用基于脉宽调制 (SVPWM) 的空间矢量调制。考虑了三种元启发式算法：遗传算法 (GA)、差分进化 (DE) 和经典粒子群优化 (PSO)。此外，在本文中，提出了 Quick PSO 算法来获得 PSO 的改进。考虑这些技术是为了在 IM-SVPWM 的速度控制中实现比例积分微分 (PID) 控制器的优化调整。优化程序是通过计算模拟来执行的。一旦获得，优化的参数就被应用到使用数字信号处理器的实际系统中。实验结果验证了所提出的方法，