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
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;
Journal_Title :
Industry Applications, IEEE Transactions on
DOI :
10.1109/TIA.2004.836317
