Modelling of piezoelectric transducers applied to piezoelectric motors: a comparative study and new perspective

Pons, José L; Rodríguez, Humberto; Seco, Fernando; Ceres, R.; Calderón, L.

doi:10.1016/j.sna.2003.06.002

Cited by 14 publications

(7 citation statements)

References 12 publications

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“…Control problems of ultrasonic motors are difficult because the motors have various nonlinearities and complicated physical structures [2], [4], [5], [7]. In previous works, some controllers for ultrasonic motors have been proposed; a PIDbased controller [13], a fuzzy-based dead-zone compensator [9], H ∞ controllers [3], [10], and a sliding mode controller [8].…”

Section: Introductionmentioning

confidence: 99%

Robust angle regulation for ultrasonic motor using CLF-based controller

Nishimura

Tanaka

Wakasa

et al. 2011

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society

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This paper describes a robust controller for a constant angle regulation problem of a travelling wave ultrasonic motor. Generally, control problems of ultrasonic motors are difficult because the motors have various nonlinearities. Further, construction problems of physical models of ultrasonic motros are also difficult. In this paper, we propose an approximate model of the travelling wave ultrasonic motor taking the nonlinearities into consideration. Then, we design a CLF (control Lyapunov function) based controller, which has robustnesses for modeling errors and friction forces. Finally, by experiments, we show that our control model is useful for constant angle regulation problems of the ultrasonic motor.

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Section: Introductionmentioning

confidence: 99%

Robust angle regulation for ultrasonic motor using CLF-based controller

Nishimura

Tanaka

Wakasa

et al. 2011

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society

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“…The results of numerical simulation for the starting up and stopping shows a response similar to that shown in the work by Hagood and McFarland [6]; however, the measured results under transient are not provided. Pons et al [12] developed a mathematical model of the stator of a USM based on laminated plate theories in conjunction with the Ritz method, which can be incorporated with the rotor model, the rotor-stator interface model, as well as electromechanical coupling [13], and was used for the optimization of the stator's parameters [14], [15]. Their model considers the dynamic effects; however, the discussion was limited to steady-state only.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear dynamic analysis of traveling wave-type ultrasonic motors

Nakagawa

Saito

Maéno

2008

IEEE Trans. Ultrason., Ferroelect., Freq. Contr.

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In this paper, nonlinear dynamic response of a traveling wave-type ultrasonic motor was investigated. In particular, understanding the transient dynamics of a bar-type ultrasonic motor, such as starting up and stopping, is of primary interest. First, the transient response of the bar-type ultrasonic motor at starting up and stopping was measured using a laser Doppler velocimeter, and its driving characteristics are discussed in detail. The motor is shown to possess amplitude-dependent nonlinearity that greatly influences the transient dynamics of the motor. Second, a dynamical model of the motor was constructed as a second-order nonlinear oscillator, which represents the dynamics of the piezoelectric ceramic, stator, and rotor. The model features nonlinearities caused by the frictional interface between the stator and the rotor, and cubic nonlinearity in the dynamics of the stator. Coulomb's friction model was employed for the interface model, and a stick-slip phenomenon is considered. Lastly, it was shown that the model is capable of representing the transient dynamics of the motor accurately. The critical parameters in the model were identified from measured results, and numerical simulations were conducted using the model with the identified parameters. Good agreement between the results of measurements and numerical simulations is observed.

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“…The numerical modeling of this device has attracted strong interest as it facilitates deep understanding and further innovations. Depending on the purpose, such as for simulation of the overall USM behavior and for optimization of design parameters and operational characteristics, many different models have been developed such as those derived from equivalent electric circuit [1][2][3] , Kirchoff or Mindlin plate based model [4][5][6][7] combined with elastic foundation or half-space based contact model. These simple and computationally efficient models have their limitations and are not accurate enough to simulate 3D problem, since there is a need to account for the complex geometry of the teeth, full piezoelectric effect and the contact interface.…”

Section: Introductionmentioning

confidence: 99%

Finite element analysis of a ring type ultrasonic motor

2005

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In this paper, a finite element method to simulate the overall behavior of ultrasonic motor (USM) is proposed. Firstly, an iterative algorithm using ABAQUS ® version 6.4 to solve the contact problem with piezoelectric actuation is presented. In each iteration, the dynamic responses of stator actuated by piezoelectric force and updated contact force are solved, from which static (or steady state) contact between deformed stator and rotor are estimated. For the dynamics of stator, three dimensional solid elements are adopted and direct integration method is used because modal-based procedures do not adequately transform the electric loads into modal loads. Rayleigh damping is adopted with the ratio set to 0.5%. For the contact between deformed stator and rotor, Lagrange multiplier method is used to impose the normal and tangential contact constraints between the stator and rotor respectively. Based on the proposed procedure, given the applied torque, axial force, and piezoelectric drive voltages as inputs, the general measures of motor performance are obtained and compared with published numerical and experimental results. The approach presented here provides a more accurate framework with moderate computational cost for modeling USM and serves as a design tool for optimizing prototypes.

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Modelling of piezoelectric transducers applied to piezoelectric motors: a comparative study and new perspective

Cited by 14 publications

References 12 publications

Robust angle regulation for ultrasonic motor using CLF-based controller

Robust angle regulation for ultrasonic motor using CLF-based controller

Nonlinear dynamic analysis of traveling wave-type ultrasonic motors

Finite element analysis of a ring type ultrasonic motor

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