Compensating nonlinear temperature dependence of ultrasonic motor

Xue Qi; Weijia Shi; Shaokai Wang; Bo Zhao; Yang Zhang; Ji Ubin Tan

doi:10.1016/j.ultras.2021.106522

Compensating nonlinear temperature dependence of ultrasonic motor

Ultrasonics. 2021 Dec:117:106522. doi: 10.1016/j.ultras.2021.106522. Epub 2021 Jul 14.

Authors

Xue Qi¹, Weijia Shi², Shaokai Wang¹, Bo Zhao¹, Yang Zhang³, Ji Ubin Tan¹

Affiliations

¹ Center of Ultra-precision Optoelectronic Instrument Engineering, Harbin Institute of Technology, Harbin 150080, China; Key Lab of Ultra-precision Intelligent Instrumentation (Harbin Institute of Technology), Ministry of Industry and Information Technology, Harbin 150080, China.
² Center of Ultra-precision Optoelectronic Instrument Engineering, Harbin Institute of Technology, Harbin 150080, China; Key Lab of Ultra-precision Intelligent Instrumentation (Harbin Institute of Technology), Ministry of Industry and Information Technology, Harbin 150080, China. Electronic address: shiweijia@hit.edu.cn.
³ Department of Mechanical Engineering, Ulsan Ship and Ocean College, Ludong University, Yantai, 264000, China.

PMID: 34315051
DOI: 10.1016/j.ultras.2021.106522

Abstract

This article aims at realizing the linear parameter-varying (LPV) controller synthesis to compensate temperature dependence for the ultrasonic motor (USM). Initially, based on the improved optimal frequency tracking scheme, the compact LPV model is investigated to approximate the nonlinear temperature dependence. With the aid of the simulation tool, the accuracy of the proposed LPV model is proven. The LPV controller can be an appropriate choice to ensure the stability of passive nonlinear system. In view of the very strictly passivity (VSP) theorem, the VSP LPV controller is constructed as negative feedback. A set of well-designed experimental setup employed the Shinsei USR60 type USM is built afterwards, and the controller implemented by the host is applied to verify the control effect. Compared with the non-model-based controller, the USM with the proposed controller displays better performance, such as more stable output rotational speed. The feasible model in this paper is of great significance to USM. Particularly, the proposed modeling and control methodology are beneficial to the existing optimum frequency tracking technology for the USM.

Keywords: Linear parameter varying controller synthesis; Optimal frequency tracking scheme; Ultrasonic motor; Very strictly passivity theorem.