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Position control of an ultrasonic motor using generalized predictive control

Bigdeli, N ; Sharif University of Technology | 2004

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  1. Type of Document: Article
  2. Publisher: 2004
  3. Abstract:
  4. Ultrasonic motors (USM) possess heavy nonlinear, and load dependent characteristics such as dead-zone and saturation reverse effects, which vary with driving conditions. These properties have made the position/velocity control of USM a difficult and challenging task. In this paper, a generalized model predictive (GPC) controller for precise USM position control is suggested. Simulation results indicate improved performance of the motor for both set point tracking and disturbance rejection. Since the motor and the controller both are of type one, the applied saturation would cause in wind up phenomenon. This drawback is removed by implementing the Quadratic GPC controller. © 2004 IEEE
  5. Keywords:
  6. Position control ; Predictive control ; Torque control ; Pi control ; Proportional control ; Neural networks ; Control nonlinearities ; Predictive models ; Instruments ; Stability
  7. Source: 8th International Conference on Control, Automation, Robotics and Vision (ICARCV), Kunming, 6 December 2004 through 9 December 2004 ; Volume 3 , 2004 , Pages 1957-1962 ; 0780386531 (ISBN)
  8. URL: https://ieeexplore.ieee.org/document/1469460