Modeling and Sliding Mode Control of Friction-Based Object Transport Using Two-Mode Ultrasonic Excitation

摘要

This paper introduces the modeling and sliding mode control of an object transport system, which employs friction force to drive an object on an ultrasonic flexural vibrating beam. The mechanism of a friction drive is analyzed, and its potential to automate the object transport prototype is described. The characteristic of the friction drive is expressed in a mathematical model. Hertzian contact theory and a modified spring model were used to estimate the effective contact area and normal force. The derived model is linearlized approximately to be applied to feedback control simulation. A sliding mode controller is designed for the object transport prototype in order to observe implementation problems. Results of sliding mode control (SMC) is compared with the result of PID control. It is shown that the trajectory performance of the sliding mode control is superior to that of PID control.