Chapter
Apr 26, 2012
Stable Torque Regulation of Piezoelectric Ultrasonic Motors
Authors: J. B. Dabney [email protected], T. L. Harman [email protected], and F. H. Ghorbel [email protected]Author Affiliations
Publication: Earth & Space 2008: Engineering, Science, Construction, and Operations in Challenging Environments
Abstract
Traveling wave piezoelectric ultrasonic motors (PUMs) are ideal actuators for a variety of important applications including medical and space robotics, haptic interfaces, and positioning devices. Consisting of a single moving part, the motors are much simpler mechanically than other drive systems that require transmissions and brakes. Many potential PUM applications require accurate real-time control of output torque, which is difficult due to the highly nonlinear PUM dynamics. This paper reviews the development of a model-based PUM torque regulation algorithm and applications of the algorithm. The paper then examines the stability of the torque control and demonstrates it experimentally.
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© 2008 American Society of Civil Engineers.
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Published online: Apr 26, 2012
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University of Houston — Clear Lake, Houston, TX 77058,. E-mail: [email protected]
University of Houston — Clear Lake, Houston, TX 77058,. E-mail: [email protected]
Rice University, Houston, TX 77005. E-mail: [email protected]
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