Position Control of Ultrasonic Motors using Dead-Zone Compensation with Fuzzy Inference

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  • ファジィ推論を用いた不感帯補償による超音波モータの位置制御
  • ファジィ スイロン オ モチイタ フカンタイ ホショウ ニ ヨル チョウオンパ モータ ノ イチ セイギョ

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Ultrasonic Motors (USM) possesses variable dead-zone in the control input associated with applied load torque. The dead-zone is a problem as an accurate positioning actuator for industrial applications and it is important to eliminate the dead-zone in order to improve the control performance. For the purpose of solving the problem, this paper presents a position control scheme with fuzzy dead-zone compensation for ultrasonic motors. In the proposed control scheme, fuzzy inference is adopted to determine a dead-zone compensation input and construct a plant which compensated the influence of dead-zone. The effectiveness and validity of the proposed controller is demonstrated by experiments.

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