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A digitally controlled drive system was implemented in this study to control the speed and direction of a travelling-wave ultrasonic motor. The drive system, based on a 2-phase voltage-fed high-frequency serial-resonant inverter, uses the mechanical resonant frequency of an ultrasonic motor. A TMS320F243 digital signal processor was used to control...
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Citations
... Romlay et al. [10] and Zhang et al. [11] optimized the stator geometry, Liu et al. [12] and Li et al. [13] used the characteristics of friction pairs with surface texture, Qiu et al. [14] used a lubricant at the contact surface, Mustafa et al. [15] used the dynamic preload control, and Shi et al. [16,17] and Mustafa et al. [18] used an optimum frequency tracking scheme to improve the energy conversion efficiency of the motor. The flexible rotor was first proposed by Japanese researchers in the early 1990 s. Typical commercial application cases are Canon [19,20] and Shinsei Industries [21]. The energy conversion efficiency (about 30%) of the motor with flexible rotor structure proposed by Shinsei Industries is higher than that with rigid rotors (less than 20%) [2]. ...
Flexible rotors are widely used in traveling wave rotary ultrasonic motors (TRUMs) because of their higher energy conversion efficiency; however, there have been few reports on how flexible rotors improve the energy conversion efficiency of ultrasonic motors. In this study, we investigate the improvement mechanism of energy conversion efficiency in TRUMs with flexible rotors. A 3D finite element (FE) model with full coupling among a piezoelectric coupled stator, rotor, friction layer, and the rigid–elastic contact interface of the stator and friction layer is established. To analyze the mechanism by which the efficiency of the TRUM is improved, the contact interface and rotor vibration information are extracted. Taking TRUM-60 as an example, the transient solution method and modal analysis method are used to solve the model. It is found that when the stator mode is B09, the flexible rotor mode is B19. The energy conversion efficiency of the TRUM is obtained from the ratio of output power to the electrical input power of the model solution. The results are validated using 3D vibration measurements and energy conversion efficiency experiments. The simulation result shows that the motor with flexible rotor improves the energy conversion efficiency compared with the motor with rigid rotor, which can be attributed to two reasons: first, the axial amplitude ratio of the flexible rotor to the stator is reduced; second, the flexible rotor reduces the radial friction. This study reveals the influence of flexible rotor on the output efficiency and can thus provide guidance for rotor design.
... Ultrasonik motorun hız denetimi "Darbe Genişlik Modülasyonu (DGM)" algoritmalarına da oldukça bağımlıdır. Bugüne kadar farklı DGM algoritmaları geliştirilmiş ve matematiksel olarak analiz edilmiştir [4][5][6]. Shinse-i üretici firmasının ürettiği D6060 sürücü devresini kullanarak sadece uygulanan gerilimlerin frekanslarını değiştirerek hız denetimi gerçekleştirmişlerdir [7][8][9][10]. Ti-Chen uygulanan gerilimlerin frekanslarını ve faz farkını değiştirerek hız denetimini gerçekleştiren yeni bir sürücü devresi önermiştir. ...
In this paper, a compact size digitally controlled speed driver for travelling wave ultrasonic motor was designed and implemented. Although the driver system is light in weight, simple, small in size, it is possible to enter speed and direction digitally as well as tracking the real motor speed, voltage and current on an LCD. The implemented system was tested in a laboratory for different speed and load cases and obtained results are presented.
... With the objective to implement a robust fault tolerant control strategy for the travelling wave ultrasonic motor, the motor model considered must be neither too simplistic so as to take an accurate account of its nonlinear characteristics, nor overly realistic and consequently hard to implement on a Digital Signal Processor [14] or on a Field Programmable Gate Array [15]. Usually, the ultrasonic motor speed control is implemented and achieved using the equivalent electromechanical model. ...
Ultrasonic piezoelectric motor technology is an important system
component in integrated mechatronics devices working on extreme
operating conditions. Due to these constraints, robustness and
performance of the control interfaces should be taken into account in
the motor design. In this paper, we apply a new architecture for a fault
tolerant control using Youla parameterization for an ultrasonic
piezoelectric motor. The distinguished feature of proposed controller
architecture is that it shows structurally how the controller design for
performance and robustness may be done separately which has the
potential to overcome the conflict between performance and robustness in
the traditional feedback framework. A fault tolerant control
architecture includes two parts: one part for performance and the other
part for robustness. The controller design works in such a way that the
feedback control system will be solely controlled by the proportional
plus double-integral PI 2 performance
controller for a nominal model without disturbances and
H ∞ robustification
controller will only be activated in the presence of the uncertainties
or an external disturbances. The simulation results demonstrate the
effectiveness of the proposed fault tolerant control architecture.
... In this model, it is assumed that there is no cross coupling, in that the two vibration modes do not affect one another. [4,9,10,11,12,13,14,15,16] for the case where the two input excitation signals are 90 out of phase. The rotor is considered to be a rigid body of mass L m . ...
... With the objective to implement a robust control strategy for the travelling wave ultrasonic motor, the motor model considered must be neither too much simplistic so as to take accurately account of its nonlinear characteristics, nor overly realistic and consequently hard to implement ; for instance, on a Digital Signal Processor [12] or on a Field Programmable Gate Array [11]. Usually, the ultrasonic motor speed control is implemented and achieved thanks to the equivalent electromechanical model. ...
Ultrasonic motor technology is a key system component in integrated mechatronics devices working on extreme operating conditions subjected to thermal cyclings or large thermal variations, EM disturbances, radiations, corrosion, or strong vibrations. Due to these constraints, robustness of the mechanics/electronics/control interfaces should be taken into account in the motor design. A robust controller for a travelling wave ultrasonic motor (TWUM) is considered in this study for operation in extreme environmental conditions. A simple causal model of the TWUM is introduced for identification of motor parameters. Then, an H<sub>infin</sub> loop shaping synthesis procedure is implemented in order to obtain a good compromise between environmental robustness and motor's performances. Finally, simulation results demonstrate the effectiveness of the proposed robust controller in extreme operating conditions.
... The rotor is driven by the tangential force at the contact surface resulting from the elliptical motion at the wave crests. The rotation direction of rotor is opposite to the direction of the traveling-wave [4]. The electrode arrangement in disc type piezoelectric ceramic is shown inFig. ...
... The superposition of these standing waves produce a traveling-wave used in TWUSMs. By changing the sign one of the drive signals the direction of traveling-wave and thus direction of rotor changes [4]. ϖ ¼ cos ωt cos kθ þ sin ωt sin kθ ð1Þ Where; ϖ is the travelling wave, k is the wave number of piezoelectric ceramic, 1 is the wavelength of the (+) and (−) polarized one section. ...
In the last decades piezoelectrically driven ultrasonic motors have become alternative actuators to the conventional electromagnetic
motors especially for precise and accurate servo positioning applications. Different types of ultrasonic motors have been
constructed and manufactured. Several drive systems have been designed, implemented and proposed for these motors. A variety
of control techniques have been applied to them. The research given in this study covers bases of the ultrasonic motors. Theoretical
background, modeling, drive systems, control techniques and applications of the ultrasonic motors have been introduced. Firstly,
the general overview has been given. Then, modeling studies focused on performance estimation and analysis of ultrasonic motors
have been examined. Afterwards, drive systems and control techniques of ultrasonic motors have been investigated. Furthermore,
an example drive and control system has been presented. This drive system has been designed as to be controlled digitally.
In addition, the important industrial and research applications of these motors have been included. The presented study has
been arranged as a review of ultrasonic motors. The important points of specifications, models, drive systems and control
methods of the ultrasonic motors have been emphasized.
... A phase shifter circuit was designed for the two-phase inverter to provide two-phase output voltages with phase difference. CW and CCW inputs provide direction control signals by letting V A or V B lead [16]. The technical specifications of the driver are given in the Appendix. ...
In this study, a PWM technique is presented for digital signal processor controlled drive system of travelling-wave ultrasonic motor. The drive system is high-frequency two-phase serial-resonant inverter using mechanical resonant frequency of the ultrasonic motor. A TMS320F243 digital signal processor was used to control ultrasonic motor drive system. PWM signal was generated and then applied to the low pass filter to produce reference DC voltage level for speed control of ultrasonic motor. The driving frequency was selected as control input in the speed and position control loops. Experimental results show that the proposed drive and control system gives superior steady-state and transient performances in the speed and position control of ultrasonic motor.
... The rotor is pressed against the stator by means of a disc spring and is driven by the frictional forces in the contact layer. The rotation direction of the rotor is opposite to the direction of the traveling wave [12]. ...
In this paper, position control of an ultrasonic motor was implemented on the basis of fuzzy reasoning. A digitally controllable two phase serial resonant inverter was developed to drive the ultrasonic motor by using a TMS320F243 digital signal processor. The driving frequency was used as a control input in the position control loop. The position characteristics obtained from the proposed drive and control system were demonstrated and evaluated by experiments. The experimental results verify that the developed position control scheme is highly effective, reliable and applicable for the ultrasonic motor.
... Several approach control for Usm motor exist in the literature [18] , [19] , [20] , [21] , [23] , [24] , [25] , [26] , [27] Our interest type of control is the neural network based intelligent artificial control whitch represent an ideal control approach for our system [21] , [27] and satisfies our condition of implementation on Matlab/Simulink software. ...
This work presents an overview on ultrasonic motors of type traveling wave (TWUSMs). TWUSMs in our work are exposed, in first by their general structure; in second by their principle of function; in third by detailed studies on the various cases of the emerged forces existence and evolution and in forth by their proposed control approaches in the literature . The mathematical model in our work for the TWUSMs, represent the base test and simulation, and it complete our functional view on these motors. The study in our work is extended by the detail of two additional cases, neglected in the literature, related to our work in the domain, by detailing their manner existence. The refined model resulting of this study is implemented on software Matlab/Simulink. This mathematical model describes the dynamic behavior of ultrasonic motor AMW90. The implementation is based on the aptitude of the deferent blocks of simulation in to be adapted according to our needs. The results of simulation obtained from this implementation arises very satisfactory, and exposes the success of this refinement.
... Şekil 1'de Shinsei firmasının üretmiş olduğu ve yürüyen dalga tip bir USM olan USR60'ın kesit görünüşü yer almaktadır. USR60'da kullanılan piezoelektrik malzemenin her fazı için ölçülen kapasite değeri (blokaj kapasitesi) 9 nF iken, dielektrik kaybı ise 20 kΩ olarak alınmıştır [12]. Şekil 5'de benzetimde parametreleri kullanılan USR60 USM'unun bir fazına ait basitleştirilmiş eşdeğer devresi görülmektedir. ...
Nowadays, the topic of improving quality and variety of electric motors comes into prominence in parallel industrial applications and technologic developments. High speed, high torque, low weight, small dimension and longevity are the features wanted from new motors that will be used in industry. In addition, as a result of development in semiconductor technology, driving circuits are able to cost cheaper and brought out more improved applications in motor designings. One of these new motors is an ultrasonic motor used piezoelectric materials in its structure. In this study, speed control of travelling wave ultrasonic motor has achieved using digital integrated circuits and a PWM modulator in driving circuit simulation. Simulation outputs which has been done in computer medium of driving circuit have exhibited that control system gave effective results in speed control of travelling wave ultrasonic motor.
