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

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, load-dependent dead zones, and the d...

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Bibliographic Details
Published inIEEE transactions on industrial electronics (1982) Vol. 65; no. 9; pp. 7149 - 7159
Main Authors Kuhne, Markus, Rochin, Roberto Garcia, Cos, Raul Santiesteban, Astorga, Guillermo Javier Rubio, Peer, Angelika
Format Journal Article
LanguageEnglish
Published New York IEEE 01.09.2018
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Computer simulation
Control engineering
Control stability
Control systems
Control systems design
Dry friction
Frequency control
Friction
Load modeling
Loads (forces)
Magnetic resonance
Motors
Nonlinear dynamics
Phase shift
Piezoelectric ceramics
piezoelectric resonators
Piezoelectricity
Rotors
Sliding mode control
Stalling
Stators
switched systems
Torque
Traveling waves
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Summary: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, load-dependent 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.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2018.2798570