Research on ultra-low speed driving method of traveling wave ultrasonic motor for CMG

Zeng, Weijun; Song, Pan; Chen, L.; Xu, Zhangfan; Xiao, Zhong; Zhang, Jiaojiao

doi:10.1016/j.ultras.2020.106088

Cited by 18 publications

(7 citation statements)

References 21 publications

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“…The minimum speed of 0.1 mm/s was realized by driving an aerostatic guide. Zeng et al proposed a superposition pulse driving approach of rotary ultrasonic motor for control moment gyro servo system [17]. The superposition pulse driving method, which prolong the turn-off time of the traditional step driving method, includes the traveling wave area and the standing wave area.…”

Section: Introductionmentioning

confidence: 99%

Improvement of Low-Speed Precision Control of a Butterfly-Shaped Linear Ultrasonic Motor

et al. 2020

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The control performance of a butterfly-shaped linear ultrasonic motor is not good when the target speed is less than 1 mm/s by traditional methods. To improve low-speed controlling characteristics of linear ultrasonic motor, a closed-loop control strategy by using both the step control and the fuzzy PID control was proposed. The controller was constructed with the function of providing a closed-loop control of the speed by adjusting the driving voltage amplitude in stepping driving mode. The corresponding step controlling parameters were determined by experiments. Comprehensive experiments on the developed control strategy were conducted under different target speeds. There was a maximum of 24.5% speed error at the target speed of 10 μm/s, meanwhile, the coefficient of variation and the response time were 16.3% and 0.11 s, respectively. With the triangular or sinusoidal waves speed tracking curves at amplitude of 1 mm/s, the maximum speed tracking error were 0.1 mm/s and 0.15 mm/s respectively. Thus, a good speed tracking performance was obtained. These results support the functional ability and potential of the proposed method as a low-speed precision control method for linear ultrasonic motors. INDEX TERMS linear ultrasonic motor, step control, fuzzy PID control, low speed NOMENCLATURE Coefficient of variation Maximum speed error of the platform Speed error of the platform Change of speed error of the platform Proportional coefficient of the PID controller Initial value of proportional coefficient Change of proportional coefficient Integral coefficient of the PID controller Initial value of integral coefficient Change of integral coefficient Differential coefficient of the PID controller Initial value of differential coefficient Change of differential coefficient Number of driving waves of the driving signal Set speed of the platform Coefficient of determination Driving period of the driving signal Average speed of the platform Actual position of the platform Actual speed of the platform Standard deviation of the platform speed

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Section: Introductionmentioning

confidence: 99%

Improvement of Low-Speed Precision Control of a Butterfly-Shaped Linear Ultrasonic Motor

et al. 2020

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“…To improve the calculation accuracy of the model, the piezoelectric loss was considered equivalent to the damping loss, and the damping of each component was set separately. The damping parameters of the stator and rotor in the model were identified using frequency response experiments (Chen et al, 2020) and the output speed of the motor, respectively.…”

Section: Friction Losses and Viscoelastic Losses Of A Trummentioning

confidence: 99%

Improvement of energy conversion efficiency in traveling wave rotary ultrasonic motor by increasing friction coefficient

Chen,

Ji,

Qiu

2024

Journal of Intelligent Material Systems and Structures

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This article introduces a method of enhancing the energy conversion efficiency of a traveling wave rotary ultrasonic motor with a flexible rotor by increasing the friction coefficient at the stator–rotor interface. The increased friction coefficient leads to improvements in energy conversion efficiency by increasing the output power and reducing friction loss power. Experimental verification showed that the friction coefficient in the interface increased from 0.21 to 0.32, the maximum energy conversion efficiency increased from 36.8% to 46.3%, and the interface friction loss was reduced.

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“…And this type of motor has been applied in precision equipment [4,5], biomedical [6], robotics [7] and other technical fields. Among the research of rotary ultrasonic motors, the most concerned performance indicators include output torque [8,9], rotational speed [10,11], angular displacement resolution [12], and response characteristics in complex environment [13,14]. In recent years, with the development of space technology, the application demand of rotary ultrasonic motors in aerospace mechanisms has increased significantly, and the comprehensive performance of rotary ultrasonic motors has been challenged.…”

Section: Introductionmentioning

confidence: 99%

A novel rotary ultrasonic motor based on multiple Langevin transducers: design, simulation, and experimental investigation

Ma,

Yang,

Qiu

et al. 2024

Smart Mater. Struct.

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Travelling wave rotary ultrasonic motors (TRUSMs) have been applied in optical systems, robotics, biomedical and other fields. However, the disadvantages such as short working life, driving performance degradation, and low energy utilization significantly limit the long-term and stable operation of TRUSMs in advanced fields like aerospace mechanisms. To address the above issues, a novel rotary ultrasonic motor based on multiple Langevin transducers is proposed in this paper. First, the structural design, driving principle and general design criteria are described in detail. Then, the structural parameters are optimized by finite element simulation analysis. Second, a prototype is assembled controllably. Subsequently, the impedance test and vibration measurement are carried out. The results show that the traveling wave is successfully generated on the tooth-ring, and all the Langevin transducers are excited to the first-order longitudinal vibration modes, which strongly verify the correctness of design principle. Finally, the driving performance experiment is carried out. The experimental results show that the no-load speed is 62 r/min under the pre-pressure of 10 N. The stalling torque is 0.94 N·m at the driving voltage of 500 Vp-p. The response characteristics show that the start/stop time are 4.6/5.5 ms, and the angular displacement resolution of clockwise/counterclockwise driving are 6.7/10.2 μrad. The motor proposed in this paper not only exhibits relatively high output performance with excellent vibration characteristics, but also maintains compactness of the structure. The sandwiched structure design effectively avoids the problem that the bonded-type piezoceramic rings in conventional TRUSMs are prone to damage or fall-off when vibrating for a long time. Furthermore, the general design criteria provide a new approach to develop high performance rotary ultrasonic motors. The proposed novel ultrasonic motor is expected to meet the demand for long-term and stable operation in aerospace mechanisms.

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Research on ultra-low speed driving method of traveling wave ultrasonic motor for CMG

Cited by 18 publications

References 21 publications

Improvement of Low-Speed Precision Control of a Butterfly-Shaped Linear Ultrasonic Motor

Improvement of Low-Speed Precision Control of a Butterfly-Shaped Linear Ultrasonic Motor

Improvement of energy conversion efficiency in traveling wave rotary ultrasonic motor by increasing friction coefficient

A novel rotary ultrasonic motor based on multiple Langevin transducers: design, simulation, and experimental investigation

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