Position Tracking Performance of Ac Servomotor Based on New Modified Repetitive Control Strategy

This work focuses on the design and implementation of a New Modified Repetitive Control Strategy (NMRCS) for position control in real-time AC servo motor system. The dynamic second order transfer function model of the system is derived and the model parameters are identified using experimental data. Based on the model parameters, the conventional PD controller parameters are computed by optimization tool in MATLAB platform. The real-time runs are carried out with NMRCS based PD controller for a periodic reference tracking. The Repetitive Control Strategy (RCS) based PD controller and conventional PD controller are taken for comparative studies. The performance measures of the above said controllers are analyzed in terms of tracking error. A robustness of the proposed control strategy is also tested. The real-time results confirm the supremacy of NMRCS based PD controller.