MISO Nonlinear Gauss-Hammerstein Model Identification of Ultrasonic Motor

Abstract

A novel two-input nonlinear Hammerstein model of ultrasonic motor is proposed to provide the basis for the design and analysis of motor’s multivariable control system. The static nonlinear part of the model is designed as Gauss function to describe the nonlinear characteristics of ultrasonic motor more accurately. Differential evolution algorithm is used to identify the model parameters, and the algorithm is improved to ensure the correctness and validity of the modeling process. The debugging method of optimization algorithm parameter value is also proposed to ensure the robustness of the algorithm. The comparison between the experimental data and the calculated results of the model indicates that the established model has higher precision and the modeling method is effective.