Position-dependent repetitive control for speed ripple reduction of ultrasonic motor

Chun Lin Chen, Mi Ching Tsai

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

1 Citation (Scopus)

Abstract

Ultrasonic motors are driven by the friction force between the rotor and the vibrator, which often induces speed fluctuations synchronizing with the rotor position periodically, namely, speed ripples. This paper employs the plug-in type repetitive control for rejecting the position-dependent periodic speed ripple and presents an implementation technique based on rotor position information. A mathematical description for characterizing the speed ripple is introduced using the Fourier series. A position-dependent repetitive controller design and an interpolation scheme to manipulate the delayed data based on the acquired rotor position are developed to improve control performance in speed ripple reduction. Simulation and experimental results are given to confirm the validity of the proposed repetitive control design and implementation.

Original languageEnglish
Title of host publication19th IFAC World Congress IFAC 2014, Proceedings
EditorsXiaohua Xia, Edward Boje
PublisherIFAC Secretariat
Pages1754-1759
Number of pages6
ISBN (Electronic)9783902823625
Publication statusPublished - 2014 Jan 1
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa
Duration: 2014 Aug 242014 Aug 29

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume19
ISSN (Print)1474-6670

Other

Other19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
CountrySouth Africa
CityCape Town
Period14-08-2414-08-29

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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  • Cite this

    Chen, C. L., & Tsai, M. C. (2014). Position-dependent repetitive control for speed ripple reduction of ultrasonic motor. In X. Xia, & E. Boje (Eds.), 19th IFAC World Congress IFAC 2014, Proceedings (pp. 1754-1759). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 19). IFAC Secretariat.