Software-based adjusting P-I gain controller for speed-tracking servo system using traveling-wave type ultrasonic motor

This paper describes the review of traveling-wave type ultrasonic motor (T-USM) and a newly-proposed optimum speed tracking controller of T-USM which is produced on the basis of computer software-based variable-gain adjustment strategy. Its improved speed characteristics are concerned with speed ripple factor, speed regulation and speed tracking properties are feasibly demonstrated in experiment as compared with a previously-developed speed controller of the T-USM actuated servo system. It is proved that the T-USM speed control scheme developed herein is practically acceptable for speed servo direct drive system