Travelling Wave Ultrasonic Motor

16th International Power Electronics and Motion Control Conference and Exposition
Antalya, Turkey 21-24 Sept 2014
A New Speed/Position Control Technique for

Travelling Wave Ultrasonic Motor under Different
Load Conditions
Altan Gencer
Nevsehir Hac Bekta Veli University
Engineering and Architecture Faculty
Turkey
altangencer@nevsehir.edu.tr
Abstract Due to the rapid development of technology, the new

applications are occurring into presence which request high
efficient speed control and high efficient position control. So,
travelling wave ultrasonic motors (TWUSM) have been drawn
attention as important actuators for position control and speed
control applications of late years. The relationship between rotor
speed and different load behaviours of the TWUSM is not linear.
In order to solve this nonlinearities and variation problems of
TWUSM, proportional-integral (PI) controller, proportional
integral- derivative (PID) controller, frequency controller and
phase difference controller are proposed and implemented for
position control and rotor speed control in this study. There are
many speed control techniques such as frequency control, applied
voltage phase difference control, applied voltage amplitude
control. Besides these control techniques increase the efficiency of
the system, we required to design control techniques which using
TWUSM position control. For this we make use of the control
system techniques such as controllers and compensation
techniques. The proposed system evaluates the steady-state
performance of TWUSM driver system by using PID controller,
frequency controller, and phase difference controller. The
obtained simulation results of the proposed technique are
analyzed and presented with comparisons.
Keywords; Travelling wave ultrasonic motor, speed control,
position control
I.
INTRODUCTION
Travelling Wave Ultrasonic motor is one type of the

Ultrasonic motors (USM). TWUSM has gained importance
due to have the better characteristics and the better
performance according to other electrical motors [1]. Because
these characteristics are appropriate for critical applications,
TWUSM is used in significant amounts of industrial
applications such as sewing machine, copiers, projectors,
magnetic resonance imaging (MRI), etc [2]. Turkey has been
under pressure from high energy prices for the last two
decades. For this reason more recently, for energy saving have
increased request of variable rotor speed drivers of TWUSM.
Besides, recent rapid multiplication of motor drivers in
different area of the applications of industry, used hybrid
drivers, brings about a important demand for high productive
TWUSM drivers, and this was the starting of attract attention
in TWUSM.. However, due to the complexity in the operating
principle, modelling of the TWUSMs characteristic is
difficult [3]. In order to overcome with these problems a lot of

successful speed control systems were proposed in the
literature. Some of them:
Conventional control techniques are fixed to construction
and parameter of system [4, 5]. The optimization and tuning of
this controller is difficult, especially due to parameter changes
abnormal operation conditions under and varying load
conditions. Thin-disc piezoceramic ultrasonic motor Part II:
system construction and control is realized by Yen et al.[6]
using both PID and sliding-mode control (SMC) methods. The
variations in the position characteristics of the TWUSM are
obtained in [6]. Micro-Positioning of Linear-Piezoelectric
Motors is designed by Tan et al. [7] using a learning nonlinear
proportional integral derivative (PID) controller. In this
system, rotor speed of TWUSM is controlled by using only
driving frequency controller. Self-constructing Recurrent
Fuzzy Neural Network for Ultrasonic Motor Drive is
developed by Hong et al. [8] using a hybrid model which
combines the strength of the equivalent circuit method and the
finite element method is derived. This study is realized same
peak voltage values in TWUSM speed control [8].In this paper
[8], equivalent electrical model of TWUSM is realized as
complex by using mechanical and electrical circuits. However,
in this proposed paper, equivalent electrical model of
TWUSM is obtained by using only electrical circuit and then
this complexity is eliminated. Speed/position controller of
TWUSM is implemented high accuracy and high efficiency
under load condition experiments.
The rest of the paper is organized as follows: Sect. 2
summarizes TWUSM equivalent circuit. The proposed
speed/position controller for the TWUSM, which contains
frequency controller and phase difference controller, is
introduced in Sect. 3. The results of experiments investigating
the effectiveness of the proposed driver are given in Sect. 4.
Finally, a discussion and conclusions are provided in Sect. 5.
II.
EQUIVALENT ELECTRICAL MODEL OF TWUSM
The theory of Equivalent electrical circuits (ECM) is

useful in solving complex systems. In its most common form,
an equivalent circuit of the TWUSM is composed of
capacitors, inductors, and resistors. An accepted equivalent
circuit for TWUSM is used in this study and is given in Figure
978-1-4799-2060-0/14/$31.00 2014 IEEE

PEMC 2014
65
1 [1]. Two loops of the equivalent circuit of TWUSM

represent A-phase and B-phase which is made of rotor
component and stator component. Blocking capacitance of
stator Cd, represents the piezoelectric ceramic. Equivalent
inductor of rotor is given by Lm, equivalent capacitance of
rotor is given by Cm and equivalent resistor of rotor is given by
ro.
The loaded equivalent electrical circuit of TWUSM is
given in Figure 1. The single phase total equivalent impedance
of TWUSM is given by Eq. (1).
(1)
Z=(ZmZd) / (Zm+Zd)
Impedance of Zm (stator) is written in Eq. (2) and impedance

of Zd (rotor) is written in Eq. (3).
Im Lm
Iu
Zm=r0+j(ZLm - (1/ZCm))
(2)
Zd=1/jZCd
(3)
r0
Cm
Cm
Id
Lm
Im
Iu
Id
Load
VA
r0
Cd
Cd
VB
n0
I m0
nid
I id
A. The Unloaded Motor Equivalent Electrical Model of

TWUSM
It is clear that rotor speed of unload TWUSM depends on
normal forcing. A normal forcing is accountable for stick-slip
and sliding characteristic at the contact surface of driving
mechanism. Measured rotor speed n0 can be related to ideal
rotor speed nid and is given by Eq (4) [8].
n0 = nid - 'nf
(4)
Where nf is rotor speed decreased because of normal

forcing. Measured rotor speed, drop rotor speed and ideal rotor
speed can all be seen as their electrical equivalents and
therefore integrated in equivalent circuit model of unload
TWUSM. Rotor speed relation leads to its current shape
relation for current flowing into motional impedance of
TWUSM.
Im0= Iid - If
(5)
In addition to relation obeys between rotor speed and

current are given Eq.(6).
PEMC 2014
(6)
If
Relation between motional current and vibration velocity

is then given by Eq. (7).
2Im
3
(7)
It is assumed that in ideal conditions contact between

stator and rotor is of a non sliding type and velocity of rotor is
thereby opposite and equal to maximum of tangential velocity
of stators particles which is given by Eq. (8).
-
Rr AZ
R0
R0 nid
kh
(8)
Where, Rr is a mechanical constant depending only on the

geometry of stator, Ro is middle radius of driving contact. A is
amplitude of travelling wave at the surface of stator and is
angular frequency travelling wave at the surface of stator.
Proportionality factor is easily derived from ideal situation
where by using Eq. (7) and Eq. (8) motional current is related
to tangential vibrating speed and rotary speed which is given
by Eq. (9).
3-
I id 2
Figure 1. Loaded equivalent electrical circuits of two phase TWUSM
'n f
R0
R0 nid
kh
(9)
For USR60 R0 = 26,75 mm, = 0,32, k = 9, h =1,5 mm,

B. The Loaded Motor Equivalent Electrical Model of
TWUSM
Rotor speed of loaded TWUSM depends on amount of
load torque. Variation characteristic of torque has increase to
nonlinear dynamical changes influence sliding of driving
mechanism. Measured speed n can be related to ideal rotor
speed nid which is given by Eq. (10).
(10)
n0 = nid - 'nf - 'nW
Where, n is rotor speed drop due to load torque.

Measured rotor speed, drop and ideal rotor speed can all be
seen as their electrical equivalents and therefore integrated in
the equivalent circuit model of loaded TWUSM. Speed
relation leads to its current shape relation for current flowing
into motional impedance of TWUSM.
(11)
Im= Iid - If - IW
In addition to relation obeys between rotor speed and

current are given Eq.(12).
n
Im
nid
I id
'n f
If
'nW
IW
(12)
66
Finally rotor speed of loaded TWUSM can be directly

deduced from motional current Im by
n=NIm
n=0
for
for
If +IW d Im
If +IW > Im
position signal error ep is generated. up is calculated in the

output of PI controller in Figure 4. PI controller is given by
Eq. (14).
P
(13)
Tr +
-
Equivalent circuit model of loaded TWUSM can finally be

represented by a two terminal electrical network where all
mechanical parameters are seen as their electrical equivalents
as shown in Figure 1.
Proposed speed control and position control model for

TWUSM is simulated in MATLAB Simulink in Figure 2. A
new reduced model is given a completely electrical model
which includes estimates of TWUSM variable operation
condition. This electrical model includes in resistor, inductor,
and capacitor. The obtained results from this reduced model
are ease solution in the steady state problem and in the
transient problem of TWUSM variable operation.
up
Error
Speed (PID)
Controller
us
Frequency/
Phase
Difference
Control
f,M
TwoPhase
Driving
Circuit
VA
VB
TWUSM
Figure 3. Block diagram of rotor speed/position control TWUSM drive system
A. Position controller for TWUSM

The rotor position/speed controller of TWUSM is
regulated by the driving frequency and phase difference of
applied two AC voltages of TWUSM. The two variation
techniques are used in the closed-loop rotor position/speed
control diagram is shown in Figure 4. For the external loop, PI
controller is implemented for position control. The position of
the TWUSM is obtained by Matlab function. Then, measured
position signal is compared to reference position signal and
PEMC 2014
K p e(t )
K i e(t )dt
Kd
us
USM
Output
de(t )
dt
Figure 5. PID controller block diagram
The relationship between rotor speed and different load

behaviours of the TWUSM is not linear. To achieve a good
relationship between rotor speed of TWUSM and different
loads, the block diagram of rotor position/speed control
TWUSM drive system is implemented as shown in Figure 3.
es
(14)
B. Speed controller for TWUSM

For the interior loop, PID controller is implemented for
speed control. The rotor speed of the TWUSM is obtained by
Matlab function. Then, measured speed signal is compared
reference speed and speed error es is generated. us is calculated
output of PID controller in Figure 5. The proposed system
evaluates the steady-state performance of TWUSM driver
system by using PID controller.
Figure 2. The proposed TWUSM driving circuit
up,r
Output
k p e(t ) ki e(t )dt
Position
(PI)
Controller
USM
K i e(t ) dt
Where, up is the computed output of the Matlab function.

kp is the proportional gain and ki is the integral gain of the
controller.
ep
up
Figure 4. PI controller block diagram
Zr +
K p e(t )
Error
THE PROPOSED POSITION AND SPEED CONTROLLER FOR

TWUSM
III.
us
k p e(t ) k i e(t )dt k d

0
de(t )
dt
(15)
Where, us is the computed output of the Matlab function.

kp is the proportional gain and ki is the integral gain of the
controller, kd is the derivative gain.
For dual-mode control, there are two rotor speed control
techniques, which are phase difference control and frequency
control. Frequency control is marked that there is rotor speed
drop when value of the driving frequency is rise above the
resonant frequency fr (40 kHz). Phase difference control is
marked varied from /2 to /2 according to the sinusoidal
relationship between phase difference and rotor speed.
Similarly, up can also be used to decide the direction of
rotation by controlling the phase difference M between the two
AC voltages. When up is positive, M varies from 0 to /2, and
the TWUSM rotates clockwise; when u is negative, M varies
from /2 to 0, and the TWUSM rotates anticlockwise.
According to TWUSMs driving control, when the
amplitude of the two AC voltages is fixed at 140Vrms, the rotor
speed of the TWUSM is given by Eq. (16).
67
Zrotor
Vrms
(16)
f 2
f
1 ( ) 2]
fr
fr
Where, Vrms is rms value of two AC voltages in V, f is the

frequency of two AC voltages in Hz, M is phase difference
between two AC voltages, fr is the resonant frequency of the
stator in Hz, rotor is the angular rotor speed of the TWUSM in
rad/sec, and is the damping factor within the TWUSM
system.
SIMULATION STUDIES
IV.
The block diagram of the proposed technique is given in

Figure 6 for computer simulation studies.
mechanical brake is applied to the TWUSM. Variation of rotor

speed for different frequency and load torque values also give
that behaviour of TWUSM is quite smooth. In general, to
increase the output TWUSM torque, the frequency should be
decreased and vice versa.
In this study, the rotor speed of TWUSM is controlled by
changing phase difference under different load values as well.
In Figure 8; the variation in rotor speed of TWUSM is given
by changing the phase difference between /2 and /2 for
different load values (0Nm 0,4 Nm). TWUSM rotor speed is
measured 46 rpm in frequency 42,37kHz in 0 Nm load
condition. In the same experiment conditions, motor speed is
measured 44 rpm in 0,1 Nm load condition. Motor speed is
measured 39 rpm in 0,4 Nm load condition.
50
Lm
Cd
r0
Cm
RF
Rr R
L
Power
supply
Load
Stator and rotor
Figure 6. The simulation block diagram of the proposed method
The models explained in the previous subsections are the

complete description of the modelling of TWUSM and driver
circuit. The equivalent circuit model is simulated using the
Matlab simulink program. The following simulation results
are achieved for the Shinsei USR60 TWUSM accepted
equivalent circuit model. Parameters of TWUSM are obtained
from the product firm Shinsei and are listed in Appendix.
In this study, the rotor speed of TWUSM is controlled by
changing driving frequency under different load values as
well. In Figure 7; the variation in rotor speed of TWUSM is
given by changing the driving frequency between 40,65 kHz
and 42,55 kHz for different load values (0,1 Nm 0,4 Nm).
Figure 7 illustrates that actual motor speed and applied voltage
frequency are changed with constant rate. From the Figure 7,
as load torque increases, the speed of motor decreases.
TWUSM rotor speed is measured 91 rpm in frequency
40,65kHz in 0 Nm load condition. In the same experiment
conditions, motor speed is measured 88 rpm in 0,1 Nm load
condition. Motor speed is measured 86 rpm in 0,2 Nm load
condition.
Rotor speed (rpm)
100
load (0Nm)
load (0,1Nm)
load (0,2Nm)
load (0,3Nm)
load(0,4Nm)
80
60
40
Rr
30
Rotor speed(rpm)
20
10
0
-10
-90 -75 -60 -45 -30 -25
-20
25 30 45 60 75 90
load (0Nm)
load (0,1Nm)
-30
load (0,2Nm)
-40
load (0,3Nm)
-50
Phase difference (degree)load (0,4Nm)
Figure 8. Variation of rotor speed for different phase difference and load
values
In Figure 9 phase difference of phase voltages applied to

the TWUSM is observed. In these figures the phase difference
of voltages is changed between 0 and /2 and amplitude of
applied two voltages is fixed at 140V. Actual speeds of
TWUSM that represent the phase difference values of two
voltage applied to TWUSM is in Figure 9a phase difference of
two voltages =/6 for 10rpm, in Figure 9b phase difference of
two voltages=/3 for 27rpm and in Figure 9c phase difference
of two voltages=/2 for 36rpm.It can be easily seen from the
results that the phase difference of the TWUSM has changed
as sinusoidal with varied rotor speed of TWUSM.
(a)
40
20
0
40,65
41,32
42,01
42,55
Driving frequency (kHz)
Figure 7. Variation of rotor speed for different frequency and load values
(b)
Variation of rotor speed for different frequency and load

values are given in Figure 7. A resistive load torque using a
PEMC 2014
68
Reference position
Position(rad)
Kp= 0.091
Ki=2.825
Kp= 0.007
Kp= 0.037
Ki= 2.07
Ki= 2.457
Load Torque (Nm)
Load torque =0,3Nm
(c)
Load torque =0,3Nm
Figure 9. The curves of two-phase output voltages with variation phase

difference voltage a) /6 b) /3 c) /2
Position controller error (ep)
The rotor speed of TWUSM is controlled by the changing

applied voltage frequency and phase difference of two
voltages. When the rotor speed of TWUSM is 80rpm,
parameter values of PID for TWUSM rotor speed control are
examined experimentally as can be seen in Figure 10. In the
Figure 10.a, reference speed, actual rotor speed and load
torque are observed. In the Figure 10.b, speed controller error
of TWUSM is observed. The actual rotor speed of TWUSM
under different load is followed as effective and very suitable
reference rotor speed.
t(sec)
(a)
Kd= 4.181
Kd= 1.95 Kp=0.016

Ki=4.065
Kd=1.447
Load torque =0,3Nm
Speed controller error (es)
(a)
Ki= 4.621
Kd= 4.181
Kp= 0.019
Ki= 4.419
Kd= 1.95
Kp=0.016
Ki=4.065
Kd=1.447
Load torque =0,3Nm
t (sec)
Figure 10. Tracking speed and error when input is 80 rpm speed of loaded
TWUSM (a) Reference speed, actual speed and load torque (b) Speed
controller error
Rotor position of TWUSM is controlled by changing phase

difference of two voltages. For the rotor position of TWUSM,
parameter values of PI for TWUSM rotor position control are
examined experimentally as can be seen in Figure 11. In the
Figure 11.a, reference position, actual position and load torque
are observed. In the Figure 11.b, position controller error of
TWUSM is observed. The actual rotor position of TWUSM
under different load is followed effective and very suitable
reference rotor position.
PEMC 2014
Kp= 0.007
Ki= 2.07
Load torque =0,3Nm
t(sec)
Ki= 4.419
Reference speed
Kp= 0.026
Ki= 2.457
Figure 11. Tracking position and error of loaded TWUSM (a) Reference
position, actual position and load torque (b) Position controller error
Load Torque (Nm)
Rotor Speed (rpm)
Ki= 4.621
Kp= 0.037
Ki=2.825
(b)
Kp= 0.019
Kp= 0.026
Kp= 0.091
Conclusions
In this paper, a novel speed/position control for the TWUSM
is proposed and implemented.
In this research, a PI controller and PID controller are
proposed for position control and rotor speed control of the
TWUSM, respectively. These controllers have superiority in
both oscillation reduction and noise reduction. These control
system has a well system response and runs good.The
proposed system evaluates position controller of TWUSM
driver system under loads by using PI controller. The
proposed system is tested for difference speed values and
difference load cases under dual-mode operation by using PID
controller. The simulation results show that rotor speed of
TWUSM can be controlled more widely by the proposed
technique with frequency; while the phase difference of the
phase voltages has less effect on the speed interval. The
proposed speed/position controller scheme of TWUSM is
simple, effective, reliable and very suitable for different load.
REFERENCES
[1]
[2]
[3]
[4]
[5]
T. Sashida, T. Kenjo, An Introduction to Ultrasonic Motors, Oxford

University Press, New York, 1993.
A. Gencer, Desing And Implementation Of A Digitally Controlled
Compact Speed Driver For Travelling Wave Ultrasonic Motor,
Pamukkale J Eng Sci, vol. 19(5), p.p.209-215, 2013.
A.Gencer A new driver circuit design for dual mode control of
travelling wave type ultrasonic, Technological Advances in Electrical,
Electronics and Computer Engineering (TAEECE) Conference, 9-11
May 2013, p.p.507-511, Konya, Turkey.
B.A. White, R.T. Lipczynski and A.R. Daniels, A simple digital control
scheme for a dc motor, Proc. IEE, Pt. B,vol. 130, pp. 143-147, 1983
J. Zhang and T.H. Baston, Robustness enhancement of dc drives with a
smooth optimal sliding mode control, IEEE Trans. Ind. Appl., vol. 27,
pp. 686-693, 1990.
69
[6]
[7]
[8]
C.Y. Yen, F.L. Wen, M. Ouyang Thin-disc piezoceramic ultrasonic

motor. Part II: system construction and control, Ultrasonics, 41, pp.
451-463, 2003.
K. K. Tan, T. H. Lee, H. X. Zhou Micro-positioning of linearpiezoelectric motors based on a learning nonlinear PID controller
IEEE/ASME Trans. On Mechatronic, 6, vol 4, pp. 428-436, 2001
L. Hong, W.H. Weng, Y.C. Chan, C.H. Fang, Self-constructing
Recurrent Fuzzy Neural Network for Ultrasonic Motor Drive, SICE
Annual Conference 2010,pp.2576-2583, 2010, Taiwan
APPENDIX
The equivalent circuit parameters of USR60 TWUSM
Cd= 9 nF.
Lm= 0,1 H.
r0 = 150 .
Cm = 168 pF.
The name plate of USR60 TWUSM
Drive frequency 40-45 kHz.
Drive voltage 100-140 Vrms.
Rated torque 0,4Nm.
Rated power 4 W.
PEMC 2014
70

Travelling Wave Ultrasonic Motor

Hochgeladen von

Dokumentinformationen

Copyright

Verfügbare Formate

Dieses Dokument teilen

Dokument teilen oder einbetten

Freigabeoptionen

Stufen Sie dieses Dokument als nützlich ein?

Sind diese Inhalte unangemessen?

Copyright:

Verfügbare Formate

Travelling Wave Ultrasonic Motor

Hochgeladen von

Copyright:

Verfügbare Formate

16th International Power Electronics and Motion Control Conference and Exposition

Antalya, Turkey 21-24 Sept 2014

A New Speed/Position Control Technique for

Abstract Due to the rapid development of technology, the new