Research on Precision Speed Control of TWUSM Using Discrete-Contact-Model-Based MIW-NMPC
Yifei Guo1, Kai Jing1, Yuqing Wang1
1School of Electrical Engineering, Hebei University of Technology, Tianjin 300401, China.
Abstract:
Aiming at the problems of low control efficiency and great regulation difficulty of traveling wave ultrasonic motors (TWUSMs) caused by nonlinearity, strong coupling characteristics, and parameter uncertainty, this paper proposes a speed regulation scheme based on discrete contact modeling and monotonically increasing weighted nonlinear model predictive control (MIW-NMPC). On the basis of analyzing the existing TWUSM models, a discrete contact model of the motor is constructed, which reduces the modeling complexity while completely retaining the core dynamic characteristics of the motor's operating mechanism. Based on this model, the MIW-NMPC algorithm for the precision speed control of TWUSM is designed, and its feasibility and stability are deduced and verified. Comparative simulations and experimental results demonstrate that the proposed discrete-model-based MIW-NMPC scheme can effectively enhance the precision and dynamic response of TWUSM speed control, offering a novel technical approach for its high-precision speed regulation applications.
Related Concept Videos
Time-Domain Interpretation of PD Control
Consider the example of control of motor torque. Initially, a positive...
Multimachine Stability
In analyzing the system, the nodal equations represent the relationship between bus voltages, machine voltages, and machine currents. The nodal equation is given by:
PI Controller: Design
Time and frequency -Domain Interpretation of PI Control
Acting as a low-pass filter, the PI controller slows the system's response and extends settling times. This requires careful...
PID Controller
PD Controller: Design
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
