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Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
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Adaptive PI control of ultrasonic motor using iterative learning methods.

Song Lu1, Shi Jingzhuo1

  • 1Department of Electrical Engineering, Henan University of Science and Technology, No. 263, KaiYuan Street, LuoYang, 471023, PR China.

ISA Transactions
|March 31, 2023
PubMed
Summary

This study introduces an adaptive method for tuning proportional integral (PI) controller parameters in ultrasonic motor control. The iterative learning control approach enhances performance by adjusting parameters online to match changing motor characteristics.

Keywords:
Adaptive PI controllerIterative learning controlUltrasonic motor

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Area of Science:

  • Control Systems Engineering
  • Robotics
  • Mechatronics

Background:

  • Proportional Integral (PI) controllers are essential in ultrasonic motor control.
  • Fixed PI controller parameters often lead to suboptimal performance due to changing motor characteristics.

Purpose of the Study:

  • To propose a novel online adaptive adjustment method for PI controller parameters.
  • To enhance the control performance and adaptability of ultrasonic motor systems.

Main Methods:

  • Developed an iterative learning control (ILC) based strategy.
  • Designed simple Proportional (P) and Proportional-Differential (PD) type iterative learning controllers.
  • Implemented online adjustment of PI controller's proportional and integral coefficients.

Main Results:

  • The adaptive method successfully adjusted PI controller coefficients in response to motor characteristic changes.
  • Improved nonlinear expression ability and input-output matching of the controller.
  • Experimental results validated the proposed control strategy's effectiveness.

Conclusions:

  • The proposed online adaptive PI control method ensures consistent control performance.
  • Iterative learning control offers a robust solution for enhancing ultrasonic motor control systems.