TY - GEN
T1 - Position-dependent repetitive control for speed ripple reduction of ultrasonic motor
AU - Chen, Chun Lin
AU - Tsai, Mi Ching
N1 - Funding Information:
This work was supported by National Science Council (NSC) of Taiwan, under project NSC 102-2221-E-006-001.
Publisher Copyright:
© IFAC.
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
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U2 - 10.3182/20140824-6-za-1003.01134
DO - 10.3182/20140824-6-za-1003.01134
M3 - Conference contribution
AN - SCOPUS:84929715386
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 1754
EP - 1759
BT - 19th IFAC World Congress IFAC 2014, Proceedings
A2 - Boje, Edward
A2 - Xia, Xiaohua
PB - IFAC Secretariat
T2 - 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Y2 - 24 August 2014 through 29 August 2014
ER -