제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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PDFF Controller Design by CDM for Position Control of Traveling-Wave Ultrasonic Motor

  • Nundrakwang, S. (Department of Control Engineering, Faculty of Engineering and Research Center for Communications and Information Technology King Mongkut’s Institute of Technology Ladkrabang) ;
  • Isarakorn, D. (Department of Control Engineering, Faculty of Engineering and Research Center for Communications and Information Technology King Mongkut’s Institute of Technology Ladkrabang) ;
  • Benjanarasuth, T. (Department of Control Engineering, Faculty of Engineering and Research Center for Communications and Information Technology King Mongkut’s Institute of Technology Ladkrabang) ;
  • Ngamwiwit, J. (Department of Control Engineering, Faculty of Engineering and Research Center for Communications and Information Technology King Mongkut’s Institute of Technology Ladkrabang) ;
  • Komine, N. (Department of Applied Computer Engineering, School of Information Technology and Electronics,Tokai University)
  • Published : 2003.10.22
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Abstract

Ultrasonic motors have many excellent performances. A variety of ultrasonic motors has been developed and used as an actuator in motion control systems. However, this motor has nonlinear characteristics. Therefore, it is difficult to achieve the precise position control system incorporating with the ultrasonic motor. This paper describes a position control scheme for traveling-wave type ultrasonic motor using a pseudo-derivative control with feedforward gains (PDFF) controller designed by the coefficient diagram method (CDM). The PDFF control system satisfies both the tracking and regulation performances, which are the most important for the precise position control system. The CDM is shown to be an efficient and simple method to design the parameters of PDFF controller. The effectiveness of the proposed control system is demonstrated by experiments.

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