Trajectory control of two Degree-of-Freedom Traveling wave SphericalUltrasonic Motor
FU Ping1，2，HU Xi-xing,3，GUO Ji-feng4
1.College of Electrical Engineering，Fuzhou University，Fuzhou，3501082.Depatment of Physics and Telecommunication Engineering，Minjiang University，Fuzhou，350121 3 Hangzhou power supply company of state grid Zhejiang electric power company，Hangzhou，3100094College of Electrical Engineering，Zhejiang university，Hangzhou，310027
Abstract：It is important for two degree-of-freedom spherical traveling wave ultrasonic motor that trajectory tracking control can be complemented. Now trajectory tracking control is presented in this paper by using two degree-of-freedom spherical ultrasonic motor with 3 stators. Firstly in the peak of traveling wave on the surface of stators the minimum Euclidean norm is made as an optimizing target for the motor. Then combination of speed adjusting and vector angle is used for feedforward control.In order to get trajectory measurement a method based on the principle of mouse is adopted as rotor detection mechanism. Then phase-difference characteristics of each stator can be calculated by this kind of method. By neuron PID algorithm closeloop trajectory tracking control can be completed. The results are that in every direction resolution can be within 2 pulses when the rotor rotates and attitude control can be complemented effectively. Also the rotor has the ability of anti-interference.From the above discussion and practical experiments availability of trajectory tracking control is to be verified. Results are used for designing theory and performance improvement of multi degree-of-freedom spherical traveling wave ultrasonic motor.
2014, Vol. 33 
