Fuzzy modeling and position control of a traveling wave ultrasonic motor

The nonlinearities of ultrasonic motors (USMs) vary with driving condition and load-dependent characteristics such as the dead zone. Therefore, modeling and control of USMs are a difficult and challenging task. In this paper, the identification of the rotary traveling-wave type ultrasonic motor (RTWUSM) with dead-zone by means of Fuzzy Hammerstein model is proposed. The obtained model is used in model based predictive control. Simulation results not only show the good matching between the developed model and experimental measurements, but also indicate that the proposed modeling approach is useful for position control and disturbance rejection.

[1]  K. Uezato,et al.  Position control of ultrasonic motors with adaptive dead-zone compensation , 1998, Conference Record of 1998 IEEE Industry Applications Conference. Thirty-Third IAS Annual Meeting (Cat. No.98CH36242).

[2]  Y Ming,et al.  Performances estimation of a rotary traveling wave ultrasonic motor based on two-dimension analytical model. , 2001, Ultrasonics.

[3]  Xin-liang Zhang,et al.  Modelling of ultrasonic motor with dead-zone based on Hammerstein model structure , 2008 .

[4]  Eduardo F. Camacho,et al.  Model Based Predictive Controllers , 1999 .

[5]  Li-Xin Wang,et al.  A Course In Fuzzy Systems and Control , 1996 .

[6]  Lotfi A. Zadeh,et al.  Fuzzy Logic , 2009, Encyclopedia of Complexity and Systems Science.

[7]  David W. Clarke,et al.  Generalized predictive control - Part I. The basic algorithm , 1987, Autom..

[8]  A Corigliano,et al.  Finite element modelling of a rotating piezoelectric ultrasonic motor. , 2005, Ultrasonics.

[9]  A. Palazoglu,et al.  Nolinear model predictive control using Hammerstein models , 1997 .

[10]  Vincent Wertz,et al.  Fuzzy Logic, Identification and Predictive Control , 2004 .

[11]  Dong Sun,et al.  Modeling and performance evaluation of traveling-wave piezoelectric ultrasonic motors with analytical method☆ , 2002 .

[12]  N. Bigdeli,et al.  Modelling of an ultrasonic motor based on Hammerstein model structure , 2004, ICARCV 2004 8th Control, Automation, Robotics and Vision Conference, 2004..

[13]  Y. Izuno,et al.  New fuzzy reasoning-based high-performance speed/position servo control schemes incorporating ultrasonic motor , 1992 .

[14]  Yoshito Ohta.  Control of systems with constraints on state and input , 2002 .

[15]  Ghouti N. El.  Hybrid Modelling of a Traveling Wave Piezoelectric Motor , 2000 .

[16]  H. Mojallali,et al.  Systematic Modeling for Free Stators of Rotary Piezoelectric Ultrasonic Motors , 2007, IEEE/ASME Transactions on Mechatronics.

[17]  Faa-Jeng Lin.  Fuzzy adaptive model-following position control for ultrasonic motor , 1997 .

[18]  D.W. Clarke,et al.  Application of generalized predictive control to industrial processes , 1988, IEEE Control Systems Magazine.