Abstract Ultrasonic motor is a kind of control object with obvious time-variable nonlinearity. In order to improve its speed control performance, some adaptive control strategies are adopted. In this paper, a model reference adaptive speed controller is designed for ultrasonic motor. The controller takes drive voltage’s amplitude as the control argument, and is designed using input-output variables according to Lyapunov stability theory. Novel method of on-line adaptive-rate regulation and a differential feedforward compensator are also designed to improve the performance of speed control at start time. The experiments indicate the availability of the proposed control strategy.
Shi Jingzhuo,Zhang Huimin. Model Reference Adaptive Speed Control of Ultrasonic Motor Based on Lyapunov Theory[J]. Transactions of China Electrotechnical Society, 2011, 26(4): 44-50.
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2011, Vol. 26 
