Abstract
This paper presents a multi-parameter model of an ultrasonic motor for speed control. Firstly, the model is divided into the steady-state part and the dynamic part, and then the speed mapping relationship of amplitude, frequency, phase difference is described by linear function, exponential function, and hyperbolic tangent function, respectively in steady-state modeling. The least-square transfer function identification is used in the dynamic velocity modeling. This paper also constructs a modeling flowchart from the discrete models to the state-space function based on the pairwise combination of parameters, which can realize the flexible control of different parameters. Finally, the error box diagram of the model and the comparison between the measured results and simulation ones both verify the effectiveness of the model.
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