Precise Position Control of a Traveling-Wave Ultrasonic Motor

Giraud, Frédéric; Lemaire‐Semail, Betty; Aragones, J.; Robineau, Jacques; Audren, J.-T.

doi:10.1109/tia.2007.900463

Cited by 24 publications

(12 citation statements)

References 18 publications

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“…Thus, the extended rotor dynamics is expressed as (10) with ω st as control input. The stator velocity ω st can be modulated by phase difference changes in the whole range of [− π 2 ; π 2 ] rad and it is assumed that the dependency can be modeled by a sinusoidal function [15], [25]. The dependency on the frequency is further assumed to be exponential [15] with the two parameters a and b. Parameter a is the maximum frequency of the traveling wave, whereas parameter b describes how rapidly the stator velocity changes when the frequency is altered.…”

Section: B Extension Of the Dynamic Model By Canudas-de-witmentioning

confidence: 99%

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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: B Extension Of the Dynamic Model By Canudas-de-witmentioning

confidence: 99%

“…2. Here, these dead zones are modeled analogously to [25], [26]. The stator velocity is therefore expressed as which describes the nonlinear impact of the opposing torque τ op on the stator velocity ω st .…”

Section: B Extension Of the Dynamic Model By Canudas-de-witmentioning

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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“…Such applications have been widely reported in motor control [2], servo systems [3], robotic systems [4] and other fields [5,6]. Many modem control methodologies such as nonlinear control [7], optimal control [8], adaptive control [9], and variable structure control [10] have been tried to improve the system performances.…”

Section: Introductionmentioning

confidence: 99%

Tracker design using composite nonlinear feedback with application to a DC servomotor

Mobayen

Majd

2012

2012 3rd Power Electronics and Drive Systems Technology (PEDSTC)

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In this paper, the theory of a nonlinear control technique, i.e., the composite nonlinear feedback control is considered for robust tracking of a class of linear systems with time varying uncertain parameters and disturbances. This controller can guarantee that the tracking error decreases asymptotically to zero in the presence of time varying uncertain parameters and disturbances. For performance improvement of dynamical system, this proposed robust tracking controller consists of linear and nonlinear feedback parts without any switching element. The linear feedback law is designed to yield a closed loop system with a small damping ratio for the existence of a quick response. On the other hand, the nonlinear feedback law is designed to increase the damping ratio as the system output approaches the output of the reference model. Finally, the simulations of applying the control law on a DC servomotor positioning system are given to illustrate the validity of the results developed in this paper.

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“…It is difficult to develop a position control system because of size restrictions. To control the precise position of the actuator, high resolution sensors, which are commonly large and expensive, are required [8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Control of Tiny Ultrasonic Linear Actuator Using Magneto-resistive Sensor for Camera Module

Jung

Kang

Kim

et al. 2009

Electric Power Components and Systems

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This article presents a control method for a tiny ultrasonic linear actuator for a camera module. The actuator is operated by a smooth impact driving method and an inertia displacement principle, and the structure of the actuator is very simple and lightweight. To precisely control the actuator, an actuator driver circuit has been developed that uses a small and inexpensive magneto-resistive sensor. The magneto-resistive sensor measures the changing magnetic field from a magnet attached to a mobile element and has a period of 400 m, which is scaled by 400 divisions, resulting in 1 m resolution. A proportional-integral-derivative control is used for controlling precise position. Finally, to verify the movement characteristics of the tiny ultrasonic linear actuator using a magneto-resistive sensor, a laser Doppler vibrometer (Polytec) was used Generally, the autofocus function of a camera module needs a 10 m resolution with a 1-mm stroke. The experimental results show that the actuator with the magneto-resistive sensor is suitable for the camera autofocus function.

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Precise Position Control of a Traveling-Wave Ultrasonic Motor

Cited by 24 publications

References 18 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

Tracker design using composite nonlinear feedback with application to a DC servomotor

Control of Tiny Ultrasonic Linear Actuator Using Magneto-resistive Sensor for Camera Module

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