Analysis and Phase Control of a Piezoelectric Traveling-Wave Ultrasonic Motor for Haptic Stick Application

Abstract:The speed of ultrasonic motor of piezo-electric type is usually measured using mechanical sensors such as pulse encoders. However, these sensors are costly and bulky. In this paper, a numerical speed estimation approach of a piezo-electric motor (PEM) is implemented using multilayer perception neural network (MLP-NN). The proposed model evaluates rotational speed and load torque based on the amplitude and driving frequency of the terminal voltage, considering the temperature variation. The estimated speed is employed to enhance the performance of the adaptivefuzzy based speed control system. The model is validated and examined to achieve a minimized relative error in speed estimation approaches.

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“…Both the drive and the feedback characteristics of Shinsei motor (USR60) [5] had been examinated at different operating conditions (Fig.3: a-c).…”

Section: Evaluation Of Resultsmentioning

confidence: 99%

Speed Estimation of Adaptive Fuzzy-Controlled Piezo-Electric Motor using MLP-Neural Network

Al-Sabbah¹,

Mughrabi²

2008

American J. of Applied Sciences

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“…Furthermore, that speed control strategy is very sensitive to thermal and torque variations. Hence, an original causal TWUM model which meets this study objectives was developed recently [5]. Indeed, this original model enables to set up torque control law with a relatively low complexity [5].…”

Section: General Layoutmentioning

confidence: 99%

“…Thus, so as to remedy to this coupling, the control is then given in the rotating reference frame. The feeding voltages v α and v β are then deduced from V d and V q by means of the rotational matrix R(kθ c ) and the ultrasonic motor equations are deduced for small pulsation variations [5] …”

Section: Model Equations In the Rotating (D Q) Reference Framementioning

confidence: 99%

“…In particular, the traveling wave ultrasonic servomotor (TWUM) has been tested recently by the NASA to operate in cryogenic temperature [4] as well as in ultra high vacuum conditions [3]. Moreover for aeronautics, in the current "fly-by-wire" technology, ultrasonic motor control strategies have been developed to implement active control sticks that allow pilots to feel the force feedback from the rudders [5,6].…”

Section: Introductionmentioning

confidence: 99%

“…Stator/rotor contact transmission In [10], the authors have used the model of [5] and used H ∞ robust control for the wave and torque loop. In the literature cited thus far, fault tolerance was not considered.…”

Section: Introductionmentioning

confidence: 99%

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Active Fault Tolerant Control for Ultrasonic Piezoelectric Motor

Boukhnifer¹

2012

Journal of Electrical Engineering

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Ultrasonic piezoelectric motor technology is an important system component in integrated mechatronics devices working on extreme operating conditions. Due to these constraints, robustness and performance of the control interfaces should be taken into account in the motor design. In this paper, we apply a new architecture for a fault tolerant control using Youla parameterization for an ultrasonic piezoelectric motor. The distinguished feature of proposed controller architecture is that it shows structurally how the controller design for performance and robustness may be done separately which has the potential to overcome the conflict between performance and robustness in the traditional feedback framework. A fault tolerant control architecture includes two parts: one part for performance and the other part for robustness. The controller design works in such a way that the feedback control system will be solely controlled by the proportional plus double-integral P I2 performance controller for a nominal model without disturbances and H∞ robustification controller will only be activated in the presence of the uncertainties or an external disturbances. The simulation results demonstrate the effectiveness of the proposed fault tolerant control architecture.

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Actuator Design

Haus¹,

Kern²,

Matysek³

et al. 2014

Springer Series on Touch and Haptic Systems

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Actuators are the most important elements of every haptic device, as their selection, respectively, their design influences the quality of the haptic impression significantly. This chapter deals with frequently used actuators structured based on their physical working principle. It focuses on the electrodynamic, electromagnetic, electrostatic, and piezoelectric actuation principle. Each actuator type is discussed as to its most important physical basics, with examples of their dimensioning, and one or more applications given. Other rarely used actuation principles are mentioned in several examples. The previous chapters were focused on the basics of control-engineering and kinematic design. They covered topics of structuring and fundamental character. This and the following chapters deal with the design of technical components as parts of haptic devices. Experience teaches us that actuators for haptic applications can rarely be found "off-the-shelf". Their requirements always include some outstanding features in rotational frequency, power density, working point, or geometry. These specialties make it necessary and helpful for their applicants to be aware of the capabilities and possibilities of modifications of existing actuators. Hence, this chapter addresses both groups of readers: users who want to choose a certain actuator and the mechanical engineer who intends to design a specific actuator for a certain device from scratch.Before a final selection of actuators is made, the appropriate kinematics and the control-engineering structure, according to the previous chapters, should have been fixed. However, in order to handle these questions in a reasonable way, some basic understanding of actuators is mandatory. In particular, the available energy densities, forces, and displacements should be estimated correctly for the intended haptic application. This section provides some suggestions and guidelines to help and preselect appropriate actuators based on the typical requirements. 9.1.

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Analysis and Phase Control of a Piezoelectric Traveling-Wave Ultrasonic Motor for Haptic Stick Application

Cited by 53 publications

References 10 publications

Speed Estimation of Adaptive Fuzzy-Controlled Piezo-Electric Motor using MLP-Neural Network

Speed Estimation of Adaptive Fuzzy-Controlled Piezo-Electric Motor using MLP-Neural Network

Active Fault Tolerant Control for Ultrasonic Piezoelectric Motor

Actuator Design

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