Derivation of simplified hybrid model and speed control for traveling wave ultrasonic motor

Issue title: Special Volume: Proceedings of the eleventh International Symposium on Applied Electromagnetics and Mechanics ISEM-Versailles ISEM 03

Article type: Research Article

Authors: Al-Sabbah, Shebel Asad^{a; *} | Mendes, Eduardo^b | Bernard, Yves^a

Affiliations: [a] LGEP, 11 rue Joliot-Curie, Supélec, 91192 Gif-sur-Yvette, France | [b] LCIS, ESISAR-INPG, 50 rue B. de Laffémas – BP 54, 26902 Valence Cedex 9, France

Correspondence: [*] Corresponding author. Tel.: +33 1 6985 1656, +33 1 6985 1693; Fax: +33 1 6941 8318; E-mail: shebel@lgep.supelec.fr

Abstract: A methodology to design an attractive robust controller for traveling wave ultrasonic motor (TWUSM) is followed on this work. This methodology takes into account several non-linear effects, such as the friction effect, those occur in the ultrasonic motor mechanism. To achieve that, our first objective is to derive a simplified hybrid model (PSHM) that catch the main behavior of the motor during normal operation, including the stator/rotor contact interface, and that can be used to design speed and position control laws. Finally, based on this model, a Fuzzy logic controller (FLC) is designed in order to achieve robustness against several uncertainties (i.e. load torque variations, motor heating, parameters uncertainties…), and a popular Shinsei USR60 is used experimentally to validate the proposed methodology.

Keywords: traveling wave ultrasonic motors, hybrid model, fuzzy logic

DOI: 10.3233/JAE-2004-632

Journal: International Journal of Applied Electromagnetics and Mechanics, vol. 19, no. 1-4, pp. 581-585, 2004