Adaptive Speed Control For Traveling Wave Utrosonic Motor System With Efficiency Optimization

Ultrasonic Motor (USM) is a novel micro-motor. Because of possessing manyadvantages compared with electromagnetic motors, it has a great potential forapplication. However, for reasons of the lower operational efficiency, its apply statusquo is not satisfactory. The purpose of this paper is studying the adaptive controlstrategies of Ultrasonic motor’s efficiency optimization system. First of all, wereviewed the research status of motion control technology and efficiency optimization,then the future research direction is provided. And the simulation and experimentalresearch of USM’s two control methods are respectively carried on, they are self-tuning pole assignment and non-linear adaptive control based on Hammerstein model.Experiments are conducted using these two speed control methods which with andwithout taking efficiency into consideration. The experimental results indicated thatthe USM’s adaptive speed control strategy for efficiency optimization has favorablecontrol performance on the premise of improving operational efficiency.Among them, self-tuning pole assignment control strategy based on the knownmodel and the method of determining parameters’ initial values for onlineidentification algorithm are proposed in this paper. Meanwhile the relative problems inexperiment are analyzed. Eventually good speed control performances are acquired.The Hammerstein model used for non-linear adaptive control is obtained by ParticleSwarm Optimization (PSO) in virtue of selecting the measured data of self-tuning poleassignment. And the model is composed of static non-linear part and dynamic linearpart. Inverse polynomial of the nonlinear part is introduced to counteract the nonlinearfunction. While the direct generalized prediction control is adopted for simulation andexperiment of the linear part. All the results validate the feasibility and rationality ofthe nonlinear control strategy.