Comparative studies of inverter structures for a mobile robot asynchronous motorisation

Abstract

Three different inverter structures for a bi-machine application are summarised: the classical structure; and two new structures which allow a power component reduction (common leg inverter and common point inverter). Comparative criteria are defined in the case of a mobile robot application using induction machines for traction. The power electronics performances and the impacts on the robot motion are studied for the three structures with the same test trajectory. The advantages and drawbacks of each inverter structure are pointed out, and a comparative table is presented.