Digital Position Control Strategy of Traveling-wave Ultrasonic Motors

摘要

Since a conventional controller is continuous one, control period is normally set for a long time. When applying that controller for a travelling-wave ultrasonic motor whose parameters and performance are time-varying as a result of increasing temperature and operating condition, it is consequently resulted in degradation of the control performance. In this paper, a digital control algorithm is proposed for position control of the motors to shorten the long control period to maintain the stability of the motor performance. The proposed controller is digitally implemented by a SH7125 microcomputer utilizing a high-performance embedded workshop. The state quantities such as acceleration, speed and position, which are necessary for digital implementation, are provided by a rotary encoder. However, the optical encoder causes quantization errors in the speed information. To overcome the problem, a digital Variable Structure System (VSS) observer is also included to estimate the state quantities. The control input will be calculated after comparing the measured values and the estimated values given by the VSS observer. In short, a small, low cost and fast responsive digital controller is designed, based on a digital VSS observer, by using the SH7125 microcomputer. Effectiveness and reliability of the proposed digital controller are experimentally verified.