Name
Abstract | ||
|---|---|---|
This paper presents a practical robust controller that solves the problem of accurate motion control of ultrasonic motors (USMs) over prolonged durations, where temperature increases pose a significant challenge. This paper focuses on USMs with driver circuits that have a single user-controllable input. Prior to developing the robust controller, a nonlinear model of the system was identified by experimentally measuring the temporal relationship between motor speed and temperature to the applied input control signal. A linear approximation of this model was used to design two robust inverse dynamic controllers: one used temperature feedback and the other did not. Both control methods were implemented on a custom designed embedded control system and achieved highly consistent and accurate performance while under load over a range of working frequencies. Step-response experiments (1 rad) demonstrated a rise time of 0.1 s without any overshoot or steady-state error. A normalized RMSE below 3% with a delay of 25 ms was achieved for reference inputs with frequencies up to 1 Hz. This performance was maintained during prolonged continuous dynamic operation of several minutes, despite the great variation in the motor’s dynamics due to the temperature effects (over a range of 25 °C–45 °C) and modeling uncertainties. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/TIE.2015.2499723 | IEEE Transactions Industrial Electronics |
Keywords | Field | DocType |
Control design,Robust control,control design,motion control,piezoelectric actuators,robust control | Ultrasonic motor,Control theory,Motion control,Control theory,Temperature control,Robustness (computer science),Automatic control,Control engineering,Control system,Engineering,Robust control | Journal |
Volume | Issue | ISSN |
63 | 4 | 0278-0046 |
Citations | PageRank | References |
1 | 0.40 | 4 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mohammad Ali Tavallaei | 1 | 7 | 1.84 |
| Seyed Farokh Atashzar | 2 | 40 | 13.16 |
| Maria Drangova | 3 | 3 | 0.87 |