Speed tracking servocontrol system with speed ripple reduction scheme for traveling-wave-type ultrasonic motor

Repetitive controller for speed ripple reduction of ultrasonic motors

“…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.…”

“…To reduce speed ripples, a PI-repetitive controller was proposed by Senjyu et al [7] and a control system with two adjustable driving parameters was proposed by Izuno et al [8]. Kobayashi et al proposed a speed control system which is based on H ∞ control [9].…”

Position-Dependent Repetitive Control for Speed Ripple Reduction of Ultrasonic Motor

“…To supress the inherent speed ripples, a PI-repetitive controller was proposed by Senjyu (Senjyu et al, 1995) and a controlled system with adjustable driving frequency and driving voltage was developed (Izuno et al, 1998). A robust H ∞ control design (Kobayashi et al, 1999) and a zero phase error tracking controller (ZPETC) (Rodriguez et al, 2000) can be incorporated with a repetitive controller for speed control.…”