QUICK AND PRECISE POSITION CONTROL OF ULTRASONIC MOTORS USING ADAPTIVE CONTROLLER WITH DEAD-ZONE COMPENSATION

Li Huafeng - Gu Chenglin

   A position control scheme for an ultrasonic motor using an adaptive controller with dead-zone compensation is presented in this paper. In the proposed controller, the adaptive control scheme compensates the time-varying characteristic of the motor with online parameter identification. In order to overcome the effect of a dead-zone, a P~controller is adopted. The effectiveness of the proposed control scheme is demonstrated by experiments. Furthermore, the influence of model orders and control delay on the control performance is determined experimentally. Results show that quick and precise position control performance can be achieved.

Keywords: ultrasonic motors, position control, adaptive controller

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