摘要
The ultrasonic motor (USM) possesses heavy nonlinearities which vary with driving conditions and load-dependent characteristics such as the dead-zone. In this paper, an identification method for the rotary travelling-wave type ultrasonic motor (RTWUSM) with dead-zone is proposed based on a modified Hammerstein model structure. The driving voltage contributing effect on the nonlinearities of the RTWUSM was transformed to the change of dynamic parameters against the driving voltage. The dead-zone of the RTWUSM is identified based upon the above transformation. Experiment results showed good agreement be- tween the output of the proposed model and actual measured output.
The ultrasonic motor （USM） possesses heavy nonlinearities which vary with driving conditions and load-dependent characteristics such as the dead-zone. In this paper, an identification method for the rotary travelling-wave type ultrasonic motor （RTWUSM） with dead-zone is proposed based on a modified Hammerstein model structure. The driving voltage contributing effect on the nonlinearities of the RTWUSM was transformed to the change of dynamic parameters against the driving voltage. The dead-zone of the RTWUSM is identified based upon the above transformation. Experiment results showed good agreement between the output of the proposed model and actual measured output.
基金
Project supported by the National Natural Science Foundation of China (No. 60572055)
the Natural Science Foundation of Guangxi Province (No. 0339068), China
