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Published on: September 28, 2015
Thin-disc piezoceramic ultrasonic motor. Part II: system construction and control
Chi Yung Yen1, Fuh Liang Wen, Minsun Ouyang
1Department of Engineering and System Science, National Tsing-Hua University, 30043, Hsinchu, Taiwan. bill@mail.nlhu.edu.tw
Ultrasonics
|July 11, 2003
Summary
This study introduces a new controller for piezoelectric ultrasonic motors, improving precision by managing non-linear behaviors. Sliding-mode control (SMC) offers superior performance over PID control for accurate motor positioning.
Area of Science:
- Robotics and Control Systems
- Materials Science and Engineering
- Mechatronics
Background:
- High-precision positioning of piezoceramic ultrasonic motors is critical for advanced applications.
- Existing control methods struggle with inherent non-linearities in piezoceramic materials and mechanical friction.
- Accurate metrology and sophisticated servo control are essential for precise motor operation.
Purpose of the Study:
- To design an effective driving circuit and controller for piezoceramic ultrasonic motors.
- To address and compensate for non-linear behaviors inherent in these motors.
- To demonstrate the superiority of a proposed control strategy over traditional methods.
Main Methods:
- Design of a novel driving circuit and controller tailored for piezoceramic ultrasonic motors.
- Implementation and comparison of Proportional-Integral-Derivative (PID) and Sliding-Mode Control (SMC) strategies.
- Performance evaluation using sinusoidal and step signal command inputs.
Main Results:
- The proposed controller effectively manages non-linearities, including piezoceramic behavior and mechanical stick-slip phenomena.
- Sliding-Mode Control (SMC) demonstrated automatic compensation for unmodeled system dynamics.
- SMC achieved excellent robust performance in position tracking and noise rejection compared to PID.
Conclusions:
- The developed driving circuit and SMC controller significantly enhance the precision and robustness of piezoceramic ultrasonic motors.
- SMC is a highly effective control strategy for overcoming the challenges posed by non-linearities in ultrasonic motor systems.
- This research contributes to the advancement of precise motion control in mechatronic systems.
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