Title :
Driving circuit for ultrasonic motor servo drive with variable-structure adaptive model-following control
Author :
Lin, F.-J. ; Kuo, L.-C.
Author_Institution :
Dept. of Electr. Eng., Chung Yuan Christian Univ., Chung Li, Taiwan
fDate :
5/1/1997 12:00:00 AM
Abstract :
A novel driving circuit is proposed to provide a two-phase balance voltage for travelling-wave type ultrasonic motors (USMs). Moreover, variable-structure adaptive model-following control is applied to the position control of the USM. First, the single-phase equivalent model of the USM is described. Next, a novel driving circuit, which is a two-phase chopper-inverter combination, is designed. Since the lumped dynamic model of the USM is difficult to obtain and the motor parameters are time varying, the variable-structure adaptive model-following control is applied to design the position controller of the USM to reduce the influence of parameter variations and external disturbances. The effectiveness of the proposed controller is demonstrated by experimental results
Keywords :
ultrasonic motors; control performance; driving circuit; external disturbances; lumped dynamic model; parameter variations; position control design; single-phase equivalent model; two-phase balance voltage; two-phase chopper-inverter; ultrasonic servomotor drive; variable-structure adaptive model-following control;
Journal_Title :
Electric Power Applications, IEE Proceedings -
DOI :
10.1049/ip-epa:19971056