1996 Volume 116 Issue 10 Pages 1059-1066
The ultrasonic motor is a newly developed motor and it has an excellent performance and many useful features, so it has been expected to be of practical use. However, this motor has a heavy nonlinearity which varies with driving conditions. Therefore, the precise position control of the ultrasonic motor is difficult.
This paper proposes a new position control scheme for the ultrasonic motor using a neural network. The proposed controller can approximate the nonlinear input-output mappings of the motor using the neural network, and can compensate the characteristic variations by online learning. The usefulness and validity of the proposed control scheme is examined in experiments.