| The dissertation is concerned with researching the minority of mathematics model of rotary traveling wave type Ultrasonic Motor which can be used by control technology directly both here and abroad. Meanwhile for the feature of rotary traveling wave type Ultrasonic Motor such as quickly response, parametric variation timely and nonlinear system,on the base of mathematics model of rotary traveling wave type Ultrasonic Motor,it's used three methods of fuzzy indirectly adaptive control,fuzzy predictive control and fuzzy tracking control(fuzzy T-S model) to research the problem of precise speed control with rotary traveling wave type Ultrasonic Motor.The main contribution of the thesis may be summarized as follows:1. Introducing the running principle and control methods of rotary traveling wave type Ultrasonic Motor;At the same time it research the minority of mathematics model of rotary traveling wave type Ultrasonic Motor which can be used by control technology directly both here and abroad.2. On the base of nonlinear model of rotary traveling wave type Ultrasonic Motor,it's applyed the method of fuzzy indirectly adaptive control,and analyzed stability of the system with Lyapunov theory stability.According to the stimulation it examined the feasibility and availability of this method.3. For the method of fuzzy predictive control,through predictive output, identified motor's parameters on line, this fuzzy controller was made by the error between the predictive output of system and reference signal.According to the stimulation it examined the feasibility and availability of this method.4. On the base of nonlinear model of rotary traveling wave type Ultrasonic Motor,it's applyed the method of fuzzy tracking control(T-S fuzzy model).According to Lyapunov stability theory,the scheme for designing decentralized fuzzy controller was made via LMI and PDC. According to the stimulation it examined the feasibility and availability of this method.
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