• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Driving Mechanism and Control of Ultrasonic Motor

Research Project

Project/Area Number 07650280
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Dynamics/Control
Research InstitutionNagaoka University of Technology

Principal Investigator

YANABE Shigeo  Nagaoka Univ. of Tech., Dept. of Faculty, Professor, 工学部, 教授 (30016662)

Co-Investigator(Kenkyū-buntansha) KOBAYASHI Yasuhide  Nagaoka Univ. of Tech., Dept. of Faculty, Research Associate, 工学部, 助手 (50272860)
KAWATANI Ryoji  Nagaoka Univ. of Tech., Dept. of Faculty, Associate Professor, 工学部, 助教授 (30169734)
Project Period (FY) 1995 – 1996
Project Status Completed (Fiscal Year 1996)
Budget Amount *help
¥2,400,000 (Direct Cost: ¥2,400,000)
Fiscal Year 1996: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 1995: ¥1,900,000 (Direct Cost: ¥1,900,000)
KeywordsUltrasonic Motor / Driving Model / Elastic Deformation / Squeal / Speed Fluctuation / Speed Control / H_* Control / Repetitive Control / H∞制御 / ロータ弾性変形量 / ロータ速度 / 歯先端の周方向速度 / 歯先端の面外方向速度
Research Abstract

The estimated driving torque is compared with the actual load torque. The estimation is based on a primitive driving model. The detailed studies, considering warp of both surfaces of rotor and stator, have not been developed yet. Moreover, it is well known that a squealing sound occurs while the motor is driving.
Elastic deformation of the rotor, vertical and horizontal vibrations of teeth and rotary speed were measured precisely by using a newly developed measuring system. The experiment shows the followings :
(a) Each tooth of the stator comes into contact with the rotor in order of proximity as the preloaded force becomes larger.
(b) The elastic deformation measured on the teeth near the rotor, is greater than it is away from the rotor.
(c) The circumferential speeds of thye teeth are almost the same.
(d) The squeal vibration with a frequency of 4.9 kHz is measured on the specific teeth.
USM has two problems for constant speed drive, one is the influence of temperature rise during operation, and the other is the influence of initial deformations of the stator and the rotor. The adaptive control method has been applied to achieve constant speed drive, however, it is difficult to design a controller systematically.
In this study H_* repetitive control method is applied as follows :
(a) H_* speed control system is designed for robust stability against the influence of the temperature fluctuation.
(b) A repetitive compensator is attached to improve the characteristic of disturbance rejection.
The efficiency of the repetitive compensator is also confirmed by the control experiment.

Report

(3 results)
  • 1996 Annual Research Report   Final Research Report Summary
  • 1995 Annual Research Report
  • Research Products

    (12 results)

All Other

All Publications (12 results)

  • [Publications] 小林 泰秀・矢鍋 重夫・中村 謙三: "超音波モータのロータ弾性変形量とロータ速度" 北陸信越支部 日本機械学会 第33期総会・講演会 講演論文集. No. 967-1. 143-144 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] 矢鍋 重夫・小林 泰秀・中村 謙三: "超音波モータの駆動機構" 日本機械学会 第73期通常総会・講演会 講演論文集. No. 96-1. 526-527 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] 小林 泰秀・矢鍋 重夫: "ゲインスケジューリングに基づく超音波モータの速度制御" 日本機械学会 第74期通常総会・講演会 講演論文集. (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] 小林 泰秀・木村哲也・矢鍋 重夫: "Speed Control of Ultrasonic Motor using H_∞ Repetitive Control" Proceedings of the Asian Control Conference '97. (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] S.Yanabe, Y.Kobayashi and K.Nakamura: ""Rotor Elastic Deformation and Rotor Speed of Ultrasonic Motor"" The 33rd JSME Hokurikushinetsu branch Annual Meeting. No.967-1. 143-144 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Y.Kobayashi, S.Yanabe and K.Nakamura: ""Driving Mechanism of Ultrasonic Motor"" The 73rd JSME Spring Annual Meeting. No.96-1. 526-527 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Y.Kobayashi and S.Yanabe: ""Speed Control of Ultrasonic Motor Using Gain Scheduled Control"" The 74rd JSME Spring Annual Meeting. (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Y.Kobayashi, T.Kimura and S.Yanabe: ""Speed Control of Ultrasonic Motor using H_* Repetitive Control"" The 2nd Asian Control Conference '97. (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] 矢鍋重夫・小林泰秀・中村謙三: "超音波モータのロータ弾性変形量とロータ速度" 北陸信越支部 日本機械学会第33期総会・講演会講演論文集. No.967-1. 143-144 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 小林泰秀・矢鍋重夫・中村謙三: "超音波モータの駆動機構" 日本機械学会第73期通常総会・講演会講演論文集. No.96-1. 526-527 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 小林泰秀・矢鍋重夫: "ゲインスケジューリングに基づく超音波モータの速度制御" 日本機械学会第74期通常総会・講演会講演論文集. (1997)

    • Related Report
      1996 Annual Research Report
  • [Publications] 小林泰秀・木村哲也・矢鍋重夫: "Speed Control of Ultrasonic Motor using H∞ Repetitive Control" Proceedings of the Asian Control Conference '97. (1997)

    • Related Report
      1996 Annual Research Report

URL: 

Published: 1995-04-01   Modified: 2016-04-21  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi