Nonlinear Positioning Compensator of a Novel

Thin-Disc Ultrasonic Motor using Fuzzy

Sliding-Mode Control

Chi-Yung Yen^a,b , Fuh-Liang Wen^c, and Minsun Ouyang^a

^a Department of Engineering and System Science,

National Tsing-Hua University,

Hsinchu 300, Taiwan, R.O.C.

^b Department of Electrical Engineering,

National United University,

Miaoli 360, Taiwan, R.O.C.

^c Department of Mechanical Engineering,

St. John’s and St. Mary’s Institute of Technology,

Taipei 251, Taiwan, R.O.C.

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.

Keywords: ultrasonic motor; non-linear; dead-zone; hysteresis; fuzzy sliding-mode; robust.

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