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Nonlinxzr aositioning toTaxnsztor of z Novxl Thin-Kist Ultrzsonit Totor using Fuzzy SliKing-ToKx tontrol
ZAi-Yung Yxn a, FuA-Liang Wxn b and PinPun Ouyang a
aDxpartPxnt of xnginxxring and PyPtxP PZixnZx, National TPing-Aua UnivxrPity, APinZAu 300, Taiwan, R.O.Z.
bDxpartPxnt of PxZAaniZal xnginxxring, Pt. JoAn’P and Pt. Pary’P InPtitutx of TxZAnology, Taipxi 251, Taiwan, R.O.Z.
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Abstract:
An approach of controller design based on fuzzy set and sliding-mode control theory for positioning purpose of a thin-disc edge-driving ultrasonic motor (USM) is developed in this study. A commercially available thin-disc buzzer used as a novel actuating component of ultrasonic motor with simple structure has been demonstrated its cost effectiveness and advantage in flexible mechanism design of a stator and rotor separately according to the necessary of applications. The driving mechanism associated with the non-linear phenomena such as dead-zone and hysteresis behaviors were studied too. Through system identification technique, the approximated transfer function of ultrasonic motor was obtained for controller design using fuzzy sliding-mode (FSMC). It has been successfully applied to position tracking to prove the excellent robust performance in noise rejection.
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Keywords: ultrasonic motor; non-linear; dead-zone; hysteresis; fuzzy sliding-mode; robust.
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*Corresponding author; e-mail: bill@nuu.edu.tw
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©
2004
CSME , ISSN 0257-9731
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