Abstract
Ultrasonic motor is a kind of newly developed motor different from the traditional electromagnetic one, with its output is obtained by inverse piezoelectric effect and ultrasonic oscillation. As it is a complex coupling system, speed control of the motor is a quite difficult task. A comprehensive parametric model for prediction of the steady-state speed of a linear ultrasonic motor is developed in this paper. The model is derived from synthesizing coupled subsystem models, and retains physical insight into some important nonlinearities. The driving circuit employing H-bridge inverter and LC resonance is described. The vibration equations of the stator are deduced by using Hamilton’s principle. An interface friction model involving asperity based stick behavior is introduced to characterize the stick-slip-separation dynamics at the interface. Further, an effective real-time and synchronous data acquisition and transmission experimental setup based on a L1B2 ultrasonic motor actuated motion platform is established to collect data for the parametric identification, and the results validate reliability of the model.
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