AUTO TUNING OF AN AC SERVO MOTOR USING NOVEL REPETITIVE CONTROL METHOD

摘要

For tuning the P1D parameters of an AC servo system, even a skillful engineer takes a long time and these parameteis must be re-tuned according to each application In previous woiks, we proposed a lepetitive control method with learning process to drive the horizontal-axis direct-drive robot arm with constant speed and also applied this control method to the position control in which the arm reciprocates between several points In this paper, we propose an auto tuning method of the AC servo motor Using the repetitive control method especially for periodic speed control It is very simple and powerful Availability of the control methods is confirmed experimentally.