Improve Working Performance and Adjust Asynchronous Motor Speed in Robot Actuators with an H-bridge Inverter

This article proposes a calculation plan to control H-bridge inverter switching based on changing the law of distribution of non-zero voltage states according to the power law ratio, 0 voltage states according to the division law in speed control of the asynchronous motor in H-bridge inverter switching pulse width modulation. The results of this plan are surveyed, analyzed, compared and evaluated using simulation models on the software Matlab-Simulink. The focus is on the speed response ability when controlling a asynchronous motor in different pulse width modulation modes, speed indicators stability and stiffness of the mechanical characteristic curve, time to reach a steady speed state of the engine, and the maximum load torque that the motor can work. These parameters are used to compare, analyze and evaluate the effectiveness of the proposed plan in different switching modes. This has important implications for using asynchronous motors in robot structures. It makes motor control more effective and increases the motor’s load-carrying capacity and mechanical power. Additionally, it provides the basis for simplifying the structure in the design of inverter systems and the control configuration for asynchronous motor drive systems.