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Second-order model for rotary traveling wave ultrasonic motors

Garcia Rochin, Roberto; Kuehne, Markus; Santiesteban-Cos, Raul; Rubio Astorga, Guillermo Javier; Peer, Angelika


Roberto Garcia Rochin

Markus Kuehne

Raul Santiesteban-Cos

Guillermo Javier Rubio Astorga

Angelika Peer


Ultrasonic motors are compact actuators with high precision and high stall torque. They feature a friction-based actuation principle and offer an alternative to standard
actuators such as direct current motors. However, their nonlinear dynamics, the presence of load-dependent dead zones and the difficulty to control low speeds often prohibit their use. Those issues can be overcome by proper design of a controller. In this work, a novel model for a rotary traveling wave ultrasonic motor, the USR60 from Shinsei, is presented. The novel discontinuous model takes into account the dependency of the motor’s velocity on the frequency of the traveling wave, the phase difference of the underlying standing waves and the load-dependent dead zone width. The model is identified with data obtained from a testbed and may serve as a foundation for the design of a variety of controllers.


Garcia Rochin, R., Kuehne, M., Santiesteban-Cos, R., Rubio Astorga, G. J., & Peer, A. (2015, November). Second-order model for rotary traveling wave ultrasonic motors. Paper presented at Humanoids, Seoul, Korea

Presentation Conference Type Conference Paper (unpublished)
Conference Name Humanoids
Conference Location Seoul, Korea
Start Date Nov 3, 2015
End Date Nov 5, 2015
Acceptance Date Sep 12, 2015
Publication Date Jan 1, 2015
Peer Reviewed Peer Reviewed
Keywords ultrasonic motor model
Public URL
Publisher URL
Additional Information Title of Conference or Conference Proceedings : Humanoids

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