DocumentCode
1166833
Title
Analysis and phase control of a piezoelectric traveling-wave ultrasonic motor for haptic stick application
Author
Giraud, Frédéric ; Semail, Betty ; Audren, J.-T.
Author_Institution
Lab. d´´Electrotechnique et d´´ Electronique de Puissance, Villeneuve d´´Ascq, France
Volume
40
Issue
6
fYear
2004
Firstpage
1541
Lastpage
1549
Abstract
An original modeling of a traveling-wave ultrasonic motor is established in order to provide a new torque control law for this category of actuators. In particular, self-driving is implemented, avoiding the classical drawbacks of frequency control, i.e., pull-out phenomenon. With such a robust control, force feedback application is available. Experimental results are obtained on an active haptic stick.
Keywords
actuators; force feedback; machine control; phase control; robust control; torque control; ultrasonic motors; actuator; force feedback system; haptic stick; phase control; piezoelectric travelling-wave ultrasonic motor; robust control; self-driving; torque control law; Actuators; Force feedback; Frequency control; Haptic interfaces; Industry Applications Society; Phase control; Rotors; Stators; Torque control; Voltage; 65; Actuator; causal modeling; haptic; phase control; piezoelectric; traveling wave; ultrasonic;
fLanguage
English
Journal_Title
Industry Applications, IEEE Transactions on
Publisher
ieee
ISSN
0093-9994
Type
jour
DOI
10.1109/TIA.2004.836317
Filename
1360001
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