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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

Authors

Roberto Garcia Rochin

Markus Kuehne

Raul Santiesteban-Cos

Guillermo Javier Rubio Astorga



Abstract

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.

Presentation Conference Type Conference Paper (unpublished)
Start Date Nov 3, 2015
Publication Date Jan 1, 2015
Peer Reviewed Peer Reviewed
APA6 Citation 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
Keywords ultrasonic motor model
Publisher URL http://dx.doi.org/10.1109/HUMANOIDS.2015.7363474
Additional Information Title of Conference or Conference Proceedings : Humanoids
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