Position control of ultrasonic motors using sliding mode control with multiple control inputs

Senjyu, Tomonobu; Yokoda, S.; Uezato, K.

doi:10.1109/apec.1998.653960

Cited by 11 publications

(7 citation statements)

References 7 publications

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“…They adopt a PI controller to simplify the control system. Position control of USMs using sliding mode control with multiple control inputs has been proposed by Senjyu et al [50].…”

Section: Control Methods Of the Ultrasonic Motorsmentioning

confidence: 99%

Ultrasonic motors: Their models, drives, controls and applications

Bekiroğlu

2007

J Electroceram

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In the last decades piezoelectrically driven ultrasonic motors have become alternative actuators to the conventional electromagnetic motors especially for precise and accurate servo positioning applications. Different types of ultrasonic motors have been constructed and manufactured. Several drive systems have been designed, implemented and proposed for these motors. A variety of control techniques have been applied to them. The research given in this study covers bases of the ultrasonic motors. Theoretical background, modeling, drive systems, control techniques and applications of the ultrasonic motors have been introduced. Firstly, the general overview has been given. Then, modeling studies focused on performance estimation and analysis of ultrasonic motors have been examined. Afterwards, drive systems and control techniques of ultrasonic motors have been investigated. Furthermore, an example drive and control system has been presented. This drive system has been designed as to be controlled digitally. In addition, the important industrial and research applications of these motors have been included. The presented study has been arranged as a review of ultrasonic motors. The important points of specifications, models, drive systems and control methods of the ultrasonic motors have been emphasized.

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“…They adopt a PI controller to simplify the control system. Position control of USMs using sliding mode control with multiple control inputs has been proposed by Senjyu et al [50].…”

Section: Control Methods Of the Ultrasonic Motorsmentioning

confidence: 99%

Ultrasonic motors: Their models, drives, controls and applications

Bekiroğlu

2007

J Electroceram

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“…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]. However, these previous works do not solve the control problems completely; controllers of ultrasonic motors should have robustness properties for modeling errors and disturbances because the motors have nonlinearities concerned with the steady states and dead zones.…”

Section: Introductionmentioning

confidence: 96%

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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“…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%

“…Based on the published USM models, a variety of controllers have been developed. Those cover PI-control [16], H∞ control [17], backstepping control [18], sliding mode control (SMC) [9], [14], [19], control by neural networks [20], and fuzzy logic [21]. The controllers use phase difference, frequency, voltage of the piezo-ceramics, or a mixture of these as control variables.…”

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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Position control of ultrasonic motors using sliding mode control with multiple control inputs

Cited by 11 publications

References 7 publications

Ultrasonic motors: Their models, drives, controls and applications

Ultrasonic motors: Their models, drives, controls and applications

Robust angle regulation for ultrasonic motor using CLF-based controller

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

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