Derivation and validation of a mathematical model for traveling wave ultrasonic motors

Abstract

The derivation of a mathematical model for traveling wave ultrasonic motors and its experimental validation are reported. In a first step, the motor was structured into subsystems and models for the individual components were derived, simplified and described mathematically. The resulting submodels were then joined into an overall unified model of the motor, which allows us to study the impact of diverse motor parameters and control variables on the motor performance. In order to validate the model, systematic simulations with properly selected parameters were performed and compared with measurement results obtained from an actual traveling wave ultrasonic motor. Very good correspondence between model predictions and real motor behavior was observed. The validated model can be used in the design of traveling wave ultrasonic motors to optimize the performance by choosing the 'right' motor and control parameters at an early design stage.

Effect of shearing deformation on the transient response of a traveling wave ultrasonic motor

“…In the second stage, high-frequency oscillatory vibrations of the stator are transformed into unidirectional microscopic motion of the rotor. Several references concerning the working principle of piezoelectric ultrasonic motors are given in [10].…”

“…It is shown that the effect acts on the starting state as well as on the settling state. In order to validate the model, the simulation results are compared with results measured by Kandare and Wallaschek [10] on the Daimler-Benz AWM90-X motor using the test bench described in Fig. 1(a) and are compared with the ones measured by Thomas Schulte and Norbert Fröhleke [11] on a prototype USM(AWM-90).…”

Ultrasonic motors: Their models, drives, controls and applications

“…The authors attempt to estimate the theoretical limit of motor performance from the point of view of the friction control mechanism. The derivation of a mathematical model for traveling wave USMs and its experimental validation has been reported by Kandare and Wallaschek [14]. The motor has been structured into subsystems and models for the individual components have been derived, simplified and described mathematically in their study.…”

Application of a Modified PSO Algorithm to Self-Tuning PID Controller for Ultrasonic Motor

“…Since the modern controls are hard to be applied on USM, PID controller has been widely used in USM applications (4)(5)(6)(7) . However, there are limitations of the control performance using the conventional fixed-gain type PID controller because USM causes serious characteristic changes during operation and contains non-linearity.…”