The application of gain scheduling PID and notch filter to AC servo system

There are non-linear and indetermination in AC servo system. It is the more difficult to control when system is at low speed, and the delay in speed measurement is a potential risk to controller stability. When controlling an articulated manipulator, the inertia of some manipulator motors varies greatly with the posture of the manipulator. The resonance frequency may also vary considerably with changing posture or load conditions. Using gain scheduling PID controller, low-pass filters, and notch filters,one can switch the active controller parameters as a function of posture and load. After using the complex controller, a satisfying control performance of the servo system can be gained. The experiment image definitely proves it.