||Study of Position Control of a Novel Linear Ultrasonic Motor Using Recurrent Fuzzy Neural Network
||Department of Engineering Science
Recurrent Fuzzy Neural Network Controller
The standing-wave linear ultrasonic motor (LUSM) has the advantages that are small size, no noise and without electromagnetic wave effect. The standing-wave LUSM attracts special interest as direct drive type actuator in industry, robotics and automotive application. Furthermore, the standing-wave LUSM is also applied in some places which need to high precision.
The speed and position of the conventional LUSM can be manipulated by controlling the frequency, the difference of phases and the voltage amplitude of the sinusoidal voltage waveforms. But the driver is easily affected by quality factor such that the two-phase voltages would be imbalance. Therefore, a good dynamic performance of the conventional LUSM is difficult to be obtained due to the unbalanced two-phase voltages. Because the novel standing-wave LUSM could be supplied by a single phase sinusoidal wave, there is an outstanding performance in practical application without the demerit of the unbalanced two-phase voltages.
The drive circuit of the standing-wave LUSM combines voltage-controlled oscillator circuit and voltage-controlled amplifier circuit. The circuit is applied to control the speed and position of LUSM with good performance and high efficiency. Five stages, linear divider circuit, voltage-controlled oscillator circuit, voltage-controlled amplifier circuit, power amplifier and transformer, compose the drive circuit. Since the dynamic characteristics of the LUSM are nonlinear and the precise dynamic model is difficult to be obtained, a recurrent fuzzy neural networks (RFNN) position controller with precision and robustness is proposed.
In this thesis, the hardware of the experiment is implemented with a low-cost digital signal processor based microcontroller and the separate-type magnetic length measuring system. The experimental results of this thesis show the superior position control performance in the LUSM. Furthermore, the results demonstrate the effectiveness of the proposed controller.
List of Tables VII
List of Figures VIII
Chapter 1 Introduction 1
1.1 Motivation 1
1.2 Outline of this Thesis 4
Chapter 2 Standing-Wave Linear Ultrasonic Motor 6
2.1 Introduction of Piezoelectric Effect 6
2.2 Background of the ultrasonic motor (USM)8
2.3 Principle of Traveling-Wave Ultrasonic Motor 9
2.4 Introduction the Standing-Wave Linear Ultrasonic Motor11
2.4.1 Introduction of the Standing-Wave Piezoelectric Actuator 13
2.4.2 The principle of the Standing-Wave Piezoelectric Vibrator 14
2.5 Operating Characteristic of the Standing-Wave Linear Ultrasonic Motor 16
Chapter 3 Recurrent Fuzzy Neural Network(RFNN) controller 18
3.1 The Control Scheme 18
3.2 The Principle of Recurrent Fuzzy Neural Network Controller 20
3.3 The Recurrent Fuzzy Neural Network Controller Design 23
3.4 Stability Derivation 26
3.5 Computer Simulation 29
3.5.1 Simulation of Recurrent Fuzzy Neural Networks Controller 29
3.5.2 Simulation of PI controller 30
3.5.3 Simulation Results 31
A. A square position command 31
B. A sinusoidal position command 32
Chapter 4 Experiment Implementation 37
4.1 Digital Signal Processor 38
4.2 Drive Circuit Design 41
4.2.1 Linear Analog Divider Circuit 42
4.2.2 Voltage-Controlled Oscillator 43
4.2.3 Voltage-Control Amplifier (VCA) 44
4.2.4 Power Amplifiers Circuit and Transformer 46
4.3 Magnetic length measuring system 48
4.4 Experimental Results 50
4.4.1 Experiments with a periodic square position command 51
A. A Square position command from -3 to 3 cm 51
B. A Square position command from 0 to 6 cm 51
4.4.2 Experiment with a sinusoidal position command 52
A. A sinusoidal position command from -17.5 to 17.5 cm 52
B. A sinusoidal position command from -17.5 to 17.5 cm 52
4.4.3 Experimental Results for a Speed Command of 10 cm/s with 100g Load 52
Chapter 5 Conclusions and Suggestion 64
5.1 Conclusions 64
5.2 Suggestions 65
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