Title :
Control of multiple ultrasonic motors with robust parameter design
Author :
Sun, Zhijun ; Li, Huafeng ; Huang, Weiqing
Author_Institution :
Coll. of Mech. & Electr. Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing
Abstract :
According to the operating characteristics of ultrasonic motors (USMs), a new position-velocity feedback control strategy is proposed and implemented in a three-joint robot directly driven by USMs. Robust parameter design has been used to obtain an optimal and robust set of PID controller gains. The index of average position error of joints has been reduced to 87.5%. Results show that, the proposed control strategy can achieve the best performance of the robot and robust parameter design is effective and convenient to the USMs.
Keywords :
feedback; machine control; machine theory; motor drives; position control; robots; robust control; three-term control; ultrasonic motors; velocity control; PID controller gain; multiple ultrasonic motor control; position feedback control; robust parameter design; three-joint robot position error reduction; velocity feedback control; Brushless motors; Control systems; Feedback control; Frequency; Robots; Robust control; Three-term control; Velocity control; Vibrations; Voltage-controlled oscillators; PID control; Taguchi method; position-velocity feedback; robust parameter design; ultrasonic motors;
Conference_Titel :
Ultrasonics Symposium, 2008. IUS 2008. IEEE
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-2428-3
Electronic_ISBN :
978-1-4244-2480-1
DOI :
10.1109/ULTSYM.2008.0449
