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

• Published in: IEEE 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
• Language: English
• 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

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...