Design and control of a new ultrasonic stepping motor

Abstract

In this paper, a systematic approach to design ultrasonic stepping motors (USMs) using spatially shifted standing vibrations is presented, with emphasis on the combination of the order of vibration mode, the number of spatial phase shifts, the number of electrode divisions and the number of sections to excite a mode. Based on the operating principle, the design equations and constraints are mathematically derived, hence proposing the design procedure. The finite element method is also employed to investigate the vibration of the stator. Moreover, by borrowing the idea of electromagnetic stepping motors, the half-step-operation control is newly applied to this USM so that the step size can be further halved. A 80-step USM is prototyped. The proposed design approach and control scheme are well supported by experimentation.

Microstepping control of ultrasonic stepping motors

“…The design criteria and design procedure of this USSM have been discussed in [12]. In this paper, the normal operation (namely, the small step size operation) of the USSM is considered, whereas the abnormal operation (namely, the large step size operation) is ignored.…”

“…In this paper, the normal operation (namely, the small step size operation) of the USSM is considered, whereas the abnormal operation (namely, the large step size operation) is ignored. In short, the design parameters are governed by [12] In order to determine the driving frequency to excite the desired vibration mode, a vibration analysis is conducted. In general, a commercially available finite element method (FEM) software package can be utilized.…”

Micro-stepping control of ultrasonic stepping motors

“…In this paper, the normal operation (namely, the small step size operation) of the USSM is considered, whereas the abnormal operation (namely, the large step size operation) is ignored. In short, the design parameters are governed by [12]:…”

Analytical and numerical modeling of an ultrasonic stepping motor using standing waves

“…In the next paragraphes, the design process for the choice of the motor parameters is described. From [2] and [3], it appears clearly that the number N of steps is a function of the number q of divisions of the piezoelectric ring, the number m of electrodes supplied simultaneously, but also the number of spatial phase shifts p (equivalent to the number of driving phases). It is also specified that there are two modes of motion for the motor: large step and small step.…”