Finite-time stabilization of ultrasonic motor with stochastic compensator for chattering phenomena

Yoshino, Hiroyuki; Nishimura, Yûki; Tanaka, Kanya

doi:10.1109/iecon.2016.7793124

Cited by 3 publications

(1 citation statement)

References 12 publications

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“…Simpler USM models have been proposed for control purposes that abstract the stator dynamics as a torque source and mostly neglect friction as well as dead zone dynamics [6], [9]- [13]. Moreover, Canudas-de-Wit [14] published a model based on work by Hagood and McFarland [7] that attempts to close the gap between model complexity and control development, resulting in a velocity source model.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Two-Input Sliding Mode Control of Rotary Traveling Wave Ultrasonic Motors

Kühne

Rochín

Santiesteban

et al. 2018

IEEE Trans. Ind. Electron.

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Traveling wave ultrasonic motors are actuators relying on piezoelectric ceramics that combine many advantageous features, such as high stalling torque, fast response, compactness, and magnetic resonance compatibility. However, they suffer from nonlinear dynamics, loaddependent dead zones, and the difficulty to control low speeds. In this paper, we present a novel second-order model for traveling wave ultrasonic motors. It is based on a dry friction driving principle and features dead zone effects. Based on the model, a two-input sliding mode controller is designed. It controls both phase difference and frequency of the traveling wave, without the necessity of implementing a signum function. With this controller, the state-of-the-art is extended to the position control case, while at the same time using fine-grained phase difference control for low velocities. Moreover, we show global uniform asymptotic stability for bounded disturbances and that velocity jumps do not appear when the control domains of phase difference and frequency are switched. Finally, both the model and the controller are evaluated via simulations and experiments that include the response to a position step input under various opposing torques. Index Terms-Control engineering, piezoelectric resonators, switched systems.0278-0046

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Section: Introductionmentioning

confidence: 99%

Modeling and Two-Input Sliding Mode Control of Rotary Traveling Wave Ultrasonic Motors

Kühne

Rochín

Santiesteban

et al. 2018

IEEE Trans. Ind. Electron.

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Improvement in step resolution and response time of ultrasonic motor by using a piezoelectric resonant shunting circuit as damping control

Guo

Pan

Chen

et al. 2020

Review of Scientific Instruments

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Ultrasonic motors can be driven by burst voltage to obtain micro-stepping motion, and the corresponding step size depends on the load and cycle number of the applied ac driving voltage in one burst. The rotor of the motor achieves a step motion through a process of startup-acceleration–deceleration-stop. To obtain a large torque (or thrust force) and quick startup, a large vibration amplitude of a stator and a high growth rate are desired; thus, a large mechanical quality factor and a high electromechanical coupling factor are required. However, the stator vibration decays for a long time before it stops because of low mechanical energy loss; meanwhile, the rotor moves a big step. Hence, there is contradiction between thrust force and resolution/response time. This paper presents a new drive method to improve the step resolution and response time while keeping the torque by damping control. By simply adding a switch and a shunting damp circuit and connecting the shunting circuit to ultrasonic motors at the end of a drive burst signal, the stator vibration attenuates more rapidly and the step size is reduced. First, the damping effect of the piezoelectric system with a passive resonant shunting circuit (a resistor and an inductor connected in series) on the free stator of a bar-type rotary traveling wave ultrasonic motor has been tested. Next, a drive circuit comprising electronic switches and the shunting circuit is designed and utilized for measuring the performance of the motor. Experimental results have well proven the proposed method.

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Quasi-Minimum-Time Positioning Control of an Ultrasonic Motor Using Control Barrier Function

Tsuchida,

Nishimura

2023

IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society

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Finite-time stabilization of ultrasonic motor with stochastic compensator for chattering phenomena

Cited by 3 publications

References 12 publications

Modeling and Two-Input Sliding Mode Control of Rotary Traveling Wave Ultrasonic Motors

Modeling and Two-Input Sliding Mode Control of Rotary Traveling Wave Ultrasonic Motors

Improvement in step resolution and response time of ultrasonic motor by using a piezoelectric resonant shunting circuit as damping control

Quasi-Minimum-Time Positioning Control of an Ultrasonic Motor Using Control Barrier Function

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