Dynamics modeling and control of a V-shaped ultrasonic motor with two Langevin-type transducers. (17th January 2020)

• Record Type: Journal Article
• Authors: Li, Xiaoniu; Yao, Zhiyuan; Li, Rong; Wu, Dawei
• Is Part Of: Smart materials and structures. Volume 29:Number 2(2020)
• Publication Date: 2020-01-17
• Subjects: ultrasonic motor -- V-shaped -- Langevin-type transducer -- dynamical modeling -- control; Smart materials -- Periodicals; Strucural design -- Periodicals; 620.11
• DOI: 10.1088/1361-665X/ab627a
• Languages: English
• ISSNs: 0964-1726

Abstract

Abstract: The V-shaped ultrasonic motor with two Langevin-type transducers has shown potential applications in the precision engineering, aerospace, bioengineering, and other fields. However, there is a lack of analytical models to predict the mechanical characteristics and to design the controller. In this paper, a dynamic model of the V-shaped motor is established, mainly including the analytical model of the V-shaped stator, the friction model between the stator and mover, and the dynamic model of the mover. Using the dynamic model, the mechanism of the frictional drive is revealed; dynamic characteristics of the stator and the mover are analyzed; mechanical characteristics are predicted. The simplified control model is established upon the dynamic model avoiding the highly nonlinear problem caused by the contact and friction. It is experimentally shown that the dynamic model not only can be used to predict and evaluate the performance (displacement, speed, thrust) of the motor, but also can be used as the basis for controller design.