Abstract
This paper proposes frequency speed control of rotary travelling wave ultrasonic motor (TWUSM), type Daimler Benz AWM90-X motor. The control characteristics of TWUSM are complicated, highly nonlinear and varying in time. This can lead to deterioration of the performance of conventional controller such as proportional integral (PI). In order to achieve high control performance of the TWUSM, fuzzy logic controller (FLC) has been designed and compared to the conventional PI controller. To validate the performance of the proposed FLC, simulation of the speed response has been performed and analyzed for a varying load. The simulation results show that the FLC has smaller settling time, smaller rising time and minimum error in steady state. Furthermore, the fuzzy controller provides good results for large load variations. The frequency output of the controller has been validated with experimental measurements of AWM90-X.
Highlights
travelling wave ultrasonic motor (TWUSM) have structural and operational advantages compared to conventional electromagnetic motors, such as compact size, lighter weight, very low speed operation, high torque, nonmagnetic operation, freedom of constructional design, very low inertia, high speed response, possibility of electromagnetic noise reduction and miniaturization [1]
SIMULATION RESULTS AND DISCUSSION Speed response for loaded motor is analyzed for the considered TWUSM
The performance parameters such as settling time, steady state error, overshoot are obtained for fuzzy logic controller (FLC) and compared to those obtained by proportional integral (PI) controller
Summary
TWUSMs have structural and operational advantages compared to conventional electromagnetic motors, such as compact size, lighter weight, very low speed operation, high torque, nonmagnetic operation, freedom of constructional design, very low inertia, high speed response, possibility of electromagnetic noise reduction and miniaturization [1]. Kebbab et al.: Frequency Speed Control of Rotary Travelling Wave Ultrasonic Motor using. The model of the travelling wave motor consists of four main modules: Voltage source, stator with piezoelectric ceramic, stator-rotor interface and rotor. C. Model of the Stator Stator is the most important part in the travelling wave ultrasonic motor. A figure of the contact mechanism between stator and rotor for a peak of the traveling wave can be seen in [16]. In such a scheme, xk is half of the contact zone length, xl and xr are the points of the stator which have the same tangential speed with the rotor.
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