Civil and Mechanical Engineering |
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Modelling of ultrasonic motor with dead-zone based on Hammerstein model structure |
Xin-liang ZHANG, Yong-hong TAN |
Department of Automation, School of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200030, China; Laboratory of Intelligent Systems and Control Engineering, Guilin University of Electronic Technology, Guilin 541004, China |
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Abstract The ultrasonic motor (USM) possesses heavy nonlinearities which vary with driving conditions and load-dependent characteristics such as the dead-zone. In this paper, an identification method for the rotary travelling-wave type ultrasonic motor (RTWUSM) with dead-zone is proposed based on a modified Hammerstein model structure. The driving voltage contributing effect on the nonlinearities of the RTWUSM was transformed to the change of dynamic parameters against the driving voltage. The dead-zone of the RTWUSM is identified based upon the above transformation. Experiment results showed good agreement between the output of the proposed model and actual measured output.
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Received: 21 March 2007
Published: 25 November 2007
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