Dynamics modeling and control of a V-shaped ultrasonic motor with two Langevin-type transducers

摘要

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.