Torque Control of Two- Inertia System Using Ultrasonic Motor with Angular Velocity Saturation

2019 ◽  
Author(s):  
Toshiya Nakamura ◽  
Daisuke Yashiro ◽  
Kazuhiro Yubai ◽  
Satoshi Komada
Keyword(s):  
Angular Velocity ◽  
Ultrasonic Motor ◽  
Torque Control ◽  
Velocity Saturation

scholarly journals Parallel Loop Control for Torque and Angular Velocity of BLDC Motors with DTC Commutation

Electronics ◽  
2020 ◽  
Vol 9 (2) ◽  
pp. 279 ◽  
Author(s):  
J. Coballes-Pantoja ◽  
R. Gómez-Fuentes ◽  
J. R. Noriega ◽  
L. A. García-Delgado
Keyword(s):  
Steady State ◽  
Angular Velocity ◽  
Direct Torque Control ◽  
Field Performance ◽  
The Body ◽  
Torque Control ◽  
Control Loop ◽  
Loop Control ◽  
Parallel Loop ◽  
Parallel Control

This paper is focused in the development of a parallel control loop of the angular velocity and torque for Brushless Direct Current (BLDC) motors. This parallel loop is proposed as an improvement for the performance of those cascaded solutions commonly reported in the body of literature of the field. Performance is improved by reducing the steady state error of the speed considerably when compared with the typical cascaded loop solution under a commanded change of torque. In addition, the steady state response of the parallel loop is reached in a shorter time. Simulations were designed to carry out a comparison between both methodologies. The results of these simulations consider only changes in the set point for speed or torque and are reported here. The control signal was applied to a simulated driver using a switching method known as Direct Torque Control of 2 and 3 phases (DTC-2+3P). These preliminary results show that the parallel control loop outperforms the cascaded control of BLDC motors.

Inverse Wheel Dynamics

2006 ◽  
Author(s):  
V. V. Vantsevich
Keyword(s):  
Angular Velocity ◽  
Power Distribution ◽  
Vehicle Dynamics ◽  
Inverse Dynamics ◽  
Equation Of Motion ◽  
Torque Control ◽  
Vehicle Performance ◽  
Performance Control ◽  
Wheel Torque ◽  
And Performance

Wheel dynamics is a significant component of vehicle dynamics and performance analysis. This paper presents an innovative method of studying wheel dynamics and wheel performance control based on the inverse dynamics formulation of the problem. Such an approach opens up a new way to the optimization and control of both vehicle dynamics and vehicle performance by optimizing and controlling power distribution to the drive wheels. An equation of motion of a wheel is derived first from the wheel power balance equation that makes the equation more general. This equation of motion is considered the basis for studying both direct and inverse wheel dynamics. The development of a control strategy on the basis of the inverse wheel dynamics approach includes wheel torque control that provides a wheel with both the referred angular velocity and rolling radius and also with the required functionals of quality. An algorithm for controlling the angular velocity is presented as the first part in the implementation of the developed strategy of the inverse wheel dynamics/performance control.

Stabilization of a rotating flexible structure subject to matched input disturbances

2019 ◽  
Vol 41 (10) ◽  
pp. 2864-2874
Author(s):  
Ya-Ping Guo ◽  
Jun-Min Wang
Keyword(s):  
Angular Velocity ◽  
Disturbance Rejection ◽  
Closed Loop ◽  
Torque Control ◽  
Flexible Structure ◽  
Closed Loop System ◽  
Active Disturbance Rejection ◽  
State Observers ◽  
Disturbance Rejection Control ◽  
The Stability

In this paper, we are concerned with nondissipative controllers design of a rotating flexible structure subject to boundary control matched disturbances. The active disturbance rejection control (ADRC) method is adopted to cancel the disturbances. Firstly, the time varying gain extend state observers (ESOs) are constructed to estimate the disturbances. Then, using estimates of uncertainties generated by ESOs, nondissipative torque control and shear control are designed for disk and beam respectively. Finally, when the angular velocity of the disk is less than the square root of the smallest natural frequency of the beam, we prove that the proposed controllers can ensure the stability of the closed-loop system in the sense that the disk can be rotated with the desired angular velocity and the beam can be stabilized. Moreover, simulation results are presented to illustrate the effectiveness of the control strategy.

Reducing static friction to improve backdrivability in torque control of traveling wave ultrasonic motor

2021 ◽  
Vol 332 ◽  
pp. 113149
Author(s):  
Tatsuki Sasamura ◽  
Abdullah Mustafa ◽  
Susumu Miyake ◽  
Takeshi Morita
Keyword(s):  
Traveling Wave ◽  
Static Friction ◽  
Ultrasonic Motor ◽  
Torque Control

Angular Velocity Saturation in Planar Dust Cluster Rotation

2004 ◽  
Vol T107 (5) ◽  
pp. 229 ◽  
Author(s):  
F. Cheung ◽  
A. Samarian ◽  
B. James
Keyword(s):  
Angular Velocity ◽  
Velocity Saturation

scholarly journals Design and Impedance Control of a Traveling Wave Ultrasonic Motor with a Spherical Rotor

2019 ◽  
Vol 9 (23) ◽  
pp. 5083
Author(s):  
Yu Guo ◽  
Aiguo Song ◽  
Zhijun Sun
Keyword(s):  
Phase Difference ◽  
Traveling Wave ◽  
Force Feedback ◽  
Control Method ◽  
Impedance Control ◽  
Direct Torque Control ◽  
Ultrasonic Motor ◽  
Torque Control ◽  
Haptic Interaction ◽  
Control Effect

A traveling wave ultrasonic motor (TWUM) with a spherical rotor was designed and fabricated for a haptic interface. The mechanical characteristics testbed was set up to test the performance of the motor under the modulation of frequency and phase difference, as well as for conducting haptic interaction, and the phase difference modulation based on certain frequency was adopted as the driving mode for the proposed motor. Due to the complexity and uncertainty of the contact mechanics of the stator and rotor, the direct torque control effect of the TWUM is not ideal for the force feedback. In this paper, the impedance control method was adopted to realize the force interaction based on positional proportional–integral–derivative (PID) control. The virtual linear spring and virtual wall experiments are conducted to verify the effect of the proposed method. Results show that the position-based impedance control method has a better effect than direct torque control for the haptic interaction based on an ultrasonic motor (USM).

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