The Research For Controller Of AC Servo Control System In A Robot For Machining

Along with the development of robot technique, the application area of robot is continuously enlarged, it put forward superior demand for robot behavior. So how can we apply the returns of other area (for example, Fuzzy controK Neural network, et al) to real-time manipulation of robot control system is a work full of challenge. It has great meaning to research the robot controller for raising robot performance and independence ability, and promoting the development of robot technique.Firstly according to traditional control theory and design method, the current loop, velocity loop and position loop of AC servo system of machining robot was designed and realized from inside loop to outside loop in this paper. Secondly, the control of position loop was improved by using compound control with velocity and acceleration feed-forward control and digital notch filter control in feeding servo system. Afterward, the advanced intelligent control theory桭uzzy control theory was used to realize the control of AC servo system in a robot for machining. And a new fuzzy control method梒ompound fuzzy PI+D control method was put forward. In the whole design research process, a large numbers of simulation and experiment research have been carried out. The simulation and experimental result shown that the compound controller and the fuzzy controller have good steady-state-performance and dynamic-performance, and these control methods are available for AC-Servo Control System.