Robust Speed Control of Ultrasonic Motor Based on H.INF. Control with Repetitive Compensator.

Kobayashi, Yasuhide; Kimura, Tetsuya; Yanabe, Shigeo

doi:10.1299/jsmec.42.884

Cited by 30 publications

(11 citation statements)

References 4 publications

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“…As the repetitive controller is employed, two design conditions are required to guarantee that the speed controller is internally stable. (11) Obviously, (9) concludes that the speed error R e converges gradually after one period of the speed ripple D  .…”

Section: B Repetitive Controllermentioning

confidence: 96%

“…To deal with the inherent nonlinearity, several speed control methods of ultrasonic motors have been previously proposed, for example [7][8][9][10] in which the mathematical description of speed ripple problem was not involved. This paper considers the speed ripples in the model description and proposes a repetitive controller design method to reduce these ripples.…”

Section: Modeling Of Speed Characteristicmentioning

confidence: 99%

“…Kobayashi et al proposed a speed control system which is based on H ∞ control [9]. Rodriguez applied the control for a stabilizing compensator with a repetitive controller incorporated in the speed control system [10].…”

Section: Introductionmentioning

confidence: 99%

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Repetitive controller for speed ripple reduction of ultrasonic motors

Chen

Tsai

Hsiao

2013

2013 CACS International Automatic Control Conference (CACS)

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Ultrasonic motors are driven by the friction force between the rotor and the vibrator, which often induces speed fluctuations synchronizing with the rotor position periodically, namely, speed ripples. The mathematical description of an ultrasonic motor for speed ripples is introduced using Fourier series in this paper, and then the speed controller is designed with a plug-in type repetitive controller to enhance speed control accuracy. Such design allows the repetitive controller to be separated from the designed servo controller. The plug-in type repetitive controller can be added subsequently without disturbing the stabilizing control system. Experiments confirm the validity of the proposed ultrasonic motor model which significantly reduces speed ripples.

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Section: B Repetitive Controllermentioning

confidence: 96%

Section: Modeling Of Speed Characteristicmentioning

confidence: 99%

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Repetitive controller for speed ripple reduction of ultrasonic motors

Chen

Tsai

Hsiao

2013

2013 CACS International Automatic Control Conference (CACS)

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“…Then, the repetitive control system shown in Fig. 15 is internally stable if the following two conditions hold (Kobayashi et al 1999): i. H ? control system depicted in Fig.…”

Section: Design Of Repetitive Controlmentioning

confidence: 99%

“…In this study, a novel control is designed based on the lsynthesis technique and structure (Zhou and Doyle 1998), and mostly importantly a repetitive control capability is later added into the controlled system to deal with periodic disturbance caused by the rotation of an imbalanced optical disk. The above-mentioned repetitive control was utilized by Moon et al (1998) for a tracking-following servo of an optical disk drive, while later applied to an ultrasonic motor in Kobayashi et al (1999) in combination of H ? control.…”

Section: Introductionmentioning

confidence: 99%

Robust dual-stage and repetitive control designs for an optical pickup with parallel cantilever beams powered by piezo-actuation

et al. 2009

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This study proposes a dual-stage lens actuator used for optical disc drives, which includes a piezoceramic parallel-beam as a fine actuator and a voice coil motor (VCM) as the coarse one. The positioning algorithm of the objective lens is comprised of robust H ? fine/coarse controllers designed based on l synthesis and a repetitive controller to further reduce effects of disturbance. To these ends, the dynamic model of the piezoceramic parallelbeam and VCM are first established and then identified by experiments. Based on these identified models, the system dynamics is represented as a standard form, which is ready for l synthesis to design robust controller. Performing optimization, the desired robust H ? controller used for conducting fine/coarse positioning is obtained. In addition to H ? control design, the repetitive controller is further forged to reduce the effect of disturbance based on the periodic nature of the disturbance. Simulations and experiments are conducted to validate the performance expected by previously designed controllers. The experiment shows that the fine piezo-actuator bears the responsibilities of compensating in-precision positioning of the coarse VCM actuator and external small level periodic disturbance.

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Multi-periodic nonlinear repetitive control: Feedback stability analysis

Owens

Banks

Nonlinear and Adaptive Control

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Robust Speed Control of Ultrasonic Motor Based on H.INF. Control with Repetitive Compensator.

Cited by 30 publications

References 4 publications

Repetitive controller for speed ripple reduction of ultrasonic motors

Repetitive controller for speed ripple reduction of ultrasonic motors

Robust dual-stage and repetitive control designs for an optical pickup with parallel cantilever beams powered by piezo-actuation

Multi-periodic nonlinear repetitive control: Feedback stability analysis

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