Stable Torque Regulation of Piezoelectric Ultrasonic Motors

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dc.contributor.authorHarman, Thomas L.
dc.contributor.authorDabney, J. B.
dc.contributor.authorGhorbel, F. H.
dc.date.accessioned2019-10-08T16:22:53Z
dc.date.available2019-10-08T16:22:53Z
dc.date.issued2008-03
dc.description.abstractTraveling wave piezoelectric ultrasonic motors (PUMs) are ideal actuators for a variety of important applications including medical and space robotics, haptic interfaces, and positioning devices. Consisting of a single moving part, the motors are much simpler mechanically than other drive systems that require transmissions and brakes. Many potential PUM applications require accurate real-time control of output torque, which is difficult due to the highly nonlinear PUM dynamics. This paper reviews the development of a model-based PUM torque regulation algorithm and applications of the algorithm. The paper then examines the stability of the torque control and demonstrates it experimentally.en_US
dc.identifier.citation“Stable Torque Regulation of Piezoelectric Ultrasonic Motors”, Dabney, J. B., Harman, T.L., Ghorbel, F. H, American Society of Civil Engineers, Earth and Space 2008, Long Beach, CA, March, 2008en_US
dc.identifier.urihttps://hdl.handle.net/10657.1/1581
dc.publisherAmerican Society of Civil Engineersen_US
dc.relation.ispartofseriesEarth and Space 2008;
dc.titleStable Torque Regulation of Piezoelectric Ultrasonic Motorsen_US

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