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Dynamic Response Modeling of Piezoelectric Ultrasonic Motors

[+] Author Affiliations
James B. Dabney, Thomas L. Harman, Charanya Aswatharanayan, Mary Randolph-Gips

University of Houston

Fathi H. Ghorbel, Joseph J. Chakkungal

Rice University

Paper No. IMECE2005-82731, pp. 1723-1731; 9 pages
doi:10.1115/IMECE2005-82731
From:
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME

abstract

Piezoelectric ultrasonic motors (PUMs) fill a unique niche in mechatronic actuators. The motors are lightweight, simple, and reliable, containing a single moving part that provides the function of motor, transmission, and brake. They are ideal for a variety of robotic applications as well as commercial and medical applications. In order to exploit PUMs fully, computationally efficient models of dynamic response, capturing all important dynamics, are needed. This paper describes the experimental characterization of the dynamic response of a typical commercial PUM (Shinsei USR-30) using an inertial load and evaluation of three classes of dynamic models: second-order predictive (physics-based) models, algebraic (curve fitting) descriptive models, and neural network approximation.

Copyright © 2005 by ASME

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