Ultrasonic Motor-Actuated Direct Drive Positioning Servo Control System Using Improved Fuzzy-Reasoning Controller

Abstract

This paper presents the latest feasible traveling-wave type ultrasonic motor (USM)-actuated positioning servo driver suitable for some application specific direct-drive motion systems which effectively incorporates the practical and reliable fuzzy-reasoning software controller with speed and position variable feedback schemes. A novel high performance and high precision USM-actuated direct-drive servo position control system treated here is composed of the traveling-wave type USM, directly-coupled mechanical loads, two-phase high frequency load resonant soft-switched inverter with the variable frequency regulation scheme for the USM, high-frequency DC-DC boost chopper with the voltage amplitude regulation scheme for the USM, pulse-encoder mounted to the USM and its signal processing interface for a position detection as well as the computer-based fuzzy-reasoning controller. The trially-produced new position servo driver breadboard using the inverter-fed USM is feasibly implemented and the particular software of fuzzy-reasoning controller is to be designed on the basis of the specific USM characteristics and inherent USM-related control minor loops. The experimental results of this USM position servo driver operating at two-phase high-frequency resonant inverter are illustrated and evaluated using one-axis servo motion drive system from a practical point of view. It is practically proved that a new precise position servo motion drive system using the compact USM which incorporates microprocessor-based two-inputs and one-output fuzzy-reasoning controller is to be able to be cost-effective and more acceptable for special-purpose directdrive servo motion control systems in the state-of-the art industrial, medical, automotive, space and consumer utilizations.