Transient analysis of bar-type ultrasonic motors

Yosuke Nakagawa, Akira Saito, Takashi Maeno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper, analysis of the dynamics of the ultrasonic motors is introduced. Though static characteristics have in the past been clarified, the dynamic characteristics were still unclear. For the purpose of realizing high speed control of ultrasonic motors, we analyzed the dynamic characteristics through measurement and numerical simulation. Among the different types of ultrasonic motors, we focused on bar-type ultrasonic motors and first measured the step response using a laser doppler velocimeter (LDV). We measured changing the input parameters and showed the relationship between input parameters and delay, overshoot of the rotational speed of the rotor. Next, we established a mathematical model of the bar-type ultrasonic motor. In our model, we approximated the stator as a rigid disc and torsional spring. We set the discrete spring at the contact area between rotor and stator, and simulated considering stick-slip at the contact area. The results of numerical simulation matched that of the measurements qualitatively and we clarified the dynamics of the contact condition and friction force at the contact area.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages1263-1268
Number of pages6
Publication statusPublished - 1 Dec 2004
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 28 Sep 20042 Oct 2004

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume2

Conference

Conference2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period28/09/042/10/04

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Keywords

  • Mathematical model
  • Stick-slip condition
  • Transient analysis
  • Ultrasonic motor

Cite this

Nakagawa, Y., Saito, A., & Maeno, T. (2004). Transient analysis of bar-type ultrasonic motors. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1263-1268). (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 2).