Precise position control of a travelling wave ultrasonic motor

Frédéric Giraud (1, 2) , Betty Lemaire-Semail (2, 1) , Julien Aragones (3) , Jacques Robineau (3) , Jean-Thierry Audren (3)

1 ALCOVE - Collaborative interactive virtual environment
2 L2EP - Laboratoire d’Électrotechnique et d’Électronique de Puissance - ULR 2697
3 SAGEM Défense Sécurité [Massy]

Precise position control of a Travelling Wave Ultrasonic Motor is achieved, avoiding the traditional drawbacks attributable to non-linear torque generation: overshoot or slow response time. For that purpose, a behavior model control is proposed and presented. With this control law, a quick and precise response is obtained. In this article, we present a position control scheme of an inertial load. The guideline used for this control was a rotation of 90deg in a response time of about 200ms with a position error of 0.6mrad, targeting a typical application for avionics. In the paper, a shinsei USR30 is used, but the method can be applied to other Ultrasonic Motors.

Domaines: Energie électrique; Bibliothèque électronique [cs.DL]

Frédéric Giraud, Betty Lemaire-Semail, Julien Aragones, Jacques Robineau, Jean-Thierry Audren. Precise position control of a travelling wave ultrasonic motor. IEEE Transactions on Industry Applications, 2005, 6 (3), pp.1548 - 1554. ⟨10.1109/TIA.2007.900463⟩. ⟨hal-01110737⟩