JZUS - Journal of Zhejiang University SCIENCE

Journal of Zhejiang University SCIENCE A 2008 Vol.9 No.1 P.58-64

Modelling of ultrasonic motor with dead-zone based on Hammerstein model structure

Author(s): Xin-liang ZHANG, Yong-hong TAN
Affiliation(s): Department of Automation, School of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200030, China; more
Corresponding email(s): xinliangzhang@sjtu.edu.cn, tany@gliet.edu.cn
Key Words: Ultrasonic motor (USM), Hammerstein model, Dead-zone, Nonlinearity, Identification

Share this article to： More <<< Previous Article \|Next Article >>>

Abstract: The ultrasonic motor (USM) possesses heavy nonlinearities which vary with driving conditions and load-dependent characteristics such as the dead-zone. In this paper, an identification method for the rotary travelling-wave type ultrasonic motor (RTWUSM) with dead-zone is proposed based on a modified hammerstein model structure. The driving voltage contributing effect on the nonlinearities of the RTWUSM was transformed to the change of dynamic parameters against the driving voltage. The dead-zone of the RTWUSM is identified based upon the above transformation. Experiment results showed good agreement between the output of the proposed model and actual measured output.

Reference

[1] Aoyagi, M., Tomikawa, Y., Takano, T., 1996. Simplified equivalent circuit of the ultrasonic motor and its applications. Ultrasonics, 34(2-5):275-278.

[2] Bigdeli, N., Haeri, M., 2004. Modeling of an Ultrasonic Motor Based on Hammerstein Model Structure. 8th Control, Automation, Robotics and Vision Conference, ICARCV-04, 2(6-9):1374-1378.

[3] Ding, F., Chen, T., 2005. Identification of Hammerstein nonlinear ARMAX systems. Automatica, 41(9):1479-1489.

[4] Frangi, A., Corigliano, A., Binci, M., Faure, P., 2005. Finite element modeling of a rotating piezoelectric ultrasonic motor. Ultrasonics, 43(9):747-755.

[5] Hagood IV, N.W., McFarland, A.J., 1995. Modeling of a piezoelectric rotary ultrasonic motor. IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, 42(2):210-224.

[6] Jeong, S.H., Lee, H.K., Kim, Y.J., Kim, H.H., Lim, K.J., 1997. Vibration Analysis of the Stator in Ultrasonic Motor by FEM. Proceedings of the 5th International Conference on Properties and Applications of Dielectric Materials, ICPADM-97. Korea, p.1091-1094.

[7] Jin, L., Zhu, M., Zhao, C., 1998. Position and speed controlling for traveling wave ultrasonic motors. Journal of Experimental Mechanics, 13(2):263-266 (in Chinese).

[8] Kagawa, Y., Tsuchiya, T., Kataoka, T., Yamabuchi, T., Furukawa, T., 1996. Finite element simulation of dynamic responses of piezoelectric actuators. Journal of Sound and Vibration, 191(4):519-538.

[9] Sashida, T., 1993. An Introduction to Ultrasonic Motors. Oxford Science Publication, Oxford.

[10] Schmidt, J.P., Hagedorn, P., Miao, B.Q., 1996. A note on the contact problem in an ultrasonic travelling wave motor. Int. J. Non-Linear Mechanics, 31(6):915-924.

[11] Senjyu, T., Kashiwagi, T., Uezato, K., 2001. Position control of ultrasonic motors using MRAC with dead-zone compensation. IEEE Transactions on Industrial Electronics, 48(6):1278-1285.

[12] Senjyu, T., Nakamura, M., Urasaki, N., Sekine, H., Funabashi, T., 2006. Mathematical Model of Ultrasonic Motors for Speed Control. Twenty-First Annual IEEE Applied Power Electronics Conference and Exposition, APEC 06, p.290-295.

[13] Tomikawa, Y., Yaginuma, M., Hirose, S., Takano, T., 1991. An equivalent circuit expression of an ultrasonic motor and measurement of its elements. Jpn. J. Appl. Phys., 30(Part 1, 9B):2398-2401.

[14] Ueha, S., Tomikawa, Y., 1993. Ultrasonic Motors: Theory and Applications. Clarendon Press, Oxford.

[15] Voros, J., 1997. Parameter identification of discontinuous Hammerstein systems. Automatica, 33(6):1141-1146.

[16] Voros, J., 2003. Recursive identification of Hammerstein systems with discontinuous nonlinearities containing dead-zones. IEEE Transactions on Automatic Control, 48(12):2203-2206.

[17] Wallaschek, J., 1998. Contact mechanics of piezoelectric ultrasonic motors. Smart Mater. Struct., 7(3):369-381.

[18] Wang, S.Y., 2004. A finite element model for the static and dynamic analysis of a piezoelectric bimorph. International Journal of Solids and Structures, 41(15):4075-4096.

[19] Yang, M., Que, P., 2001. Performances estimation of a rotary travelling-wave ultrasonic motor based on two-dimension analytical model. Ultrasonics, 39(2):115-120.

[20] Zhu, M., 2004. Contact analysis and mathematical modeling of traveling wave ultrasonic motors. IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, 51(6):668-679.

Open peer comments: Debate/Discuss/Question/Opinion

<1>

Similar articles

- Go to

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference