Traveling wave piezoelectric ultrasonic motors (PUMs) are ideal actuators for a variety of important applications including medical and space robotics, haptic interfaces, and positioning devices. Consisting of a single moving part, the motors are much simpler mechanically than other drive systems that require transmissions and brakes. Many potential PUM applications require accurate real-time control of output torque, which is difficult due to the highly nonlinear PUM dynamics. This paper reviews the development of a model-based PUM torque regulation algorithm and applications of the algorithm. The paper then examines the stability of the torque control and demonstrates it experimentally.


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    Title :

    Stable Torque Regulation of Piezoelectric Ultrasonic Motors


    Contributors:

    Conference:

    11th Biennial ASCE Aerospace Division International Conference on Engineering, Science, Construction, and Operations in Challenging Environments ; 2008 ; Long Beach, California, United States


    Published in:

    Publication date :

    2008-09-04




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





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